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Robot picking implementation method and device, and electronic equipment

A realization method, robot technology, applied to instruments, manipulators, program-controlled manipulators, etc., can solve problems such as ineffective picking

Active Publication Date: 2018-09-14
RICOH KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, robots in the prior art can only automatically pick up objects with larger planes, solid objects, or objects with regular stacking, and cannot effectively pick up objects with hollow parts, shell-like objects, and objects that may be entangled.

Method used

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  • Robot picking implementation method and device, and electronic equipment
  • Robot picking implementation method and device, and electronic equipment
  • Robot picking implementation method and device, and electronic equipment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0120] This embodiment provides a method for implementing robot picking, such as figure 1 Shown, including:

[0121] Step 101: Receive an original three-dimensional image, the original three-dimensional image obtained after a camera photographed a container with multiple objects to be picked up;

[0122] Step 102: Receive shape data of the object to be picked up;

[0123] Step 103: Calculate the position and posture of the graspable target among multiple objects to be picked based on the original three-dimensional image and the shape data;

[0124] Step 104: Determine the grasping information of the graspable target according to the position and posture of the graspable target, and send the grasping information to the robot, so that the robot can pick up the graspable object according to the grasping information. Take the target.

[0125] This embodiment estimates the position and posture of the object to be picked up in a disorderly stacked scene through the acquired three-dimensional...

Embodiment 2

[0163] This embodiment provides a device 20 for implementing robot picking, such as Figure 8 As shown, this embodiment includes:

[0164] The first receiving module 21 is configured to receive an original three-dimensional image, the original three-dimensional image obtained after a camera photographed a container in which a plurality of objects to be picked up are stacked;

[0165] The second receiving module 22 is configured to receive the shape data of the object to be picked up;

[0166] The processing module 23 is configured to calculate the position and posture of the graspable target among multiple objects to be picked based on the original three-dimensional image and the shape data;

[0167] The grabbing information calculation module 24 is used to determine the grabbing information of the grabbing target according to the position and posture of the grabbing target, and sending the grabbing information to the robot so that the robot can follow the Grabbing information pickup ...

Embodiment 3

[0205] This embodiment provides an electronic device 30 that realizes robot picking, such as Figure 15 As shown, this embodiment includes:

[0206] Processor 32; and

[0207] The memory 34, in which computer program instructions are stored,

[0208] Wherein, when the computer program instructions are executed by the processor, the processor 32 is caused to perform the following steps:

[0209] Receiving an original three-dimensional image, the original three-dimensional image obtained after a camera photographed a container with a plurality of objects to be picked up;

[0210] Receiving the shape data of the object to be picked up;

[0211] Calculating the position and posture of a graspable target among multiple objects to be picked up according to the original three-dimensional image and the shape data;

[0212] The grasping information of the graspable target is determined according to the position and posture of the graspable target, and the grasping information is sent to a robot, s...

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Abstract

The invention provides a robot picking implementation method and device, and electronic equipment and belongs to the machine vision field. The method comprises steps that an original three-dimensionalimage is received, and the original three-dimensional image is acquired by a camera photographing a container in which multiple to-be-picked objects are stacked; shape data of the to-be-picked objects is received; the position and the posture of a graspable target among the multiple to-be-picked objects is calculated according to the original three-dimensional image and the shape data; the grab information of the graspable target is determined according to the position and the posture of the graspable target, and the grab information is sent to the robot so that the robot picks up the graspable target according to the grab information. The robot picking implementation method is advantaged in that an object having the hollow portion, a shell-like object and an object that is likely to be entangled can be automatically picked by the robot.

Description

Technical field [0001] The present invention relates to the field of machine vision, in particular to a method, device and electronic equipment for implementing robot picking. Background technique [0002] In recent years, machine vision has developed rapidly and is gradually becoming an indispensable part of automation technology; in order to improve efficiency, save time and human resources, technicians have developed many robots that integrate automated picking, sorting and packaging of goods. For example, a three-bar parallel delta robot. [0003] However, the prior art robot can only automatically pick up objects with large planes, solid objects, or objects with regular stacking. For objects with hollow parts, shell-like objects, and objects that may be entangled, they cannot be picked up effectively. Summary of the invention [0004] The technical problem to be solved by the present invention is to provide a method, device and electronic equipment for robot picking, which can...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T1/00B25J9/16
CPCB25J9/1697G06T1/0014G06T2207/10012
Inventor 王晓霞张毅飞
Owner RICOH KK
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