Non-instructional grasping method and device for robots and computer readable storage medium
A robot and camera coordinate system technology, applied in the direction of measuring devices, optical devices, instruments, etc., can solve the problems of low precision, no specific position of the grasping point, and low efficiency, so as to increase the degree of automation and reduce the teaching process , Guarantee the effect of grasping accuracy
Active Publication Date: 2018-11-16
深圳辰视智能科技有限公司
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Problems solved by technology
This method has the following defects and deficiencies: 1. It is often necessary to use a robot to teach multiple grasping points, which is inefficient; 2. This method does not determine the specific position of the grasping point, and can only see whether the grasping point is aligned with the naked eye , with low precision
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[0060] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention clearer and clearer, the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the embodiments of the present invention, and are not intended to limit the embodiments of the present invention.
[0061] In the following description, use of suffixes such as 'module', 'part' or 'unit' for denoting elements is only for facilitating the description of the embodiments of the present invention and has no specific meaning by itself. Therefore, 'module', 'part' or 'unit' may be used in combination.
[0062] The embodiment of the present invention provides a robot grabbing method without teaching. At least one grabbing point is set on the three-dimensional model ...
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The invention belongs to the technical field of machine vision, and discloses a non-instructional grasping method and device for robots and a computer readable storage medium. The non-instructional grasping method for robots comprises the following steps: setting reference grasping points on the three-dimensional model of a work piece; calibrating and obtaining the calibration offset between the flange at the end of a robot and an actual grasping point when the robot grasps a target work piece according to the actual grasping point on the target work piece; determining the pose that the flangeat the end of the robot needs when the target work piece is grasped according to one reference grasping point; judging whether the reference grasping point satisfies the grasping condition; and if the reference grasping point satisfies the grasping condition, retaining the reference grasping point and using the reference grasping point to guide the robot to move and grasp the target work piece according to the reference grasping point. According to the embodiment of the invention, the robot instruction process is reduced, the efficiency can be improved, the degree of automation can be increased, and the grasping accuracy can be ensured.
Description
technical field [0001] The embodiments of the present invention belong to the technical field of machine vision, in particular to a method, device and computer-readable storage medium for a robot to grasp without teaching. Background technique [0002] The 3D vision-guided positioning system has a wide range of applications. As a non-contact sensor method, its application makes it easier for the production line to adapt to product changes. [0003] The working principle of the 3D vision-guided positioning system is briefly introduced as follows: select a number of spatial feature points on the workpiece whose coordinate values are known in the workpiece coordinate system, calculate the coordinates of the spatial feature points in the camera coordinate system after the camera shoots, and reversely solve the two coordinate systems The conversion matrix between them establishes the conversion relationship between the workpiece coordinate system and the camera coordinate syste...
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IPC IPC(8): G01B11/00
CPCG01B11/002
Inventor 陈恳冯良炳陈先开邓亮
Owner 深圳辰视智能科技有限公司