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A grasping control method, device and robot based on visual servoing

A grasping device and visual servo technology, applied in the field of robotics, can solve problems such as inability to effectively grasp, achieve strong practicability and ease of use, and achieve the effect of effective grasping

Active Publication Date: 2020-12-15
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for moving objects, especially moving objects with uncertain trajectories, it is not possible to effectively grasp

Method used

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  • A grasping control method, device and robot based on visual servoing
  • A grasping control method, device and robot based on visual servoing
  • A grasping control method, device and robot based on visual servoing

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0059] figure 1 It shows a schematic flow chart of the realization of the grasping control method based on visual servoing provided by Embodiment 1 of the present invention. Such as figure 1As shown, the grasping control method based on visual servoing may specifically include the following steps:

[0060] Step 101: Obtain the pose information of the target object relative to the grasping device.

[0061] Among them, the target object is the grasping target of the robot. The grasping device may be a robotic arm tool of the robot, which acquires pose information of the target object relative to the grasping device.

[0062] Such as figure 2 As shown, specifically, obtaining the pose information of the target object relative to the grasping device includes:

[0063] Step 201: Obtain the relative coordinates of the target object relative to the camera, and use the relative coordinates as the first pose information of the target object.

[0064] Step 202: Transform the firs...

Embodiment 2

[0085] Figure 5 It shows a schematic flow chart of the realization of the grasping control method based on visual servoing provided by Embodiment 2 of the present invention. As shown in the figure, the method may include the following steps:

[0086] Step 501: Obtain photos from multiple angles of the target object.

[0087] Exemplarily, in a simple background environment, surrounding shooting is performed on the target object to obtain photos from multiple angles.

[0088] Step 502: Construct a 3D model of the target object based on the photo, and extract feature information of the 3D model.

[0089] Based on the photos of the target object from multiple angles in step 501, a 3D object model of the target object is generated by 3D reconstruction technology, and then SIFT (Scale Invariant Feature Transform) features are extracted from the object model.

[0090] Step 503: Perform visual servo tracking on the target object by matching the image information collected by the c...

Embodiment 3

[0100] Please refer to Figure 6 , which shows a structural block diagram of the grasping control device based on visual servoing provided by the third embodiment of the present invention. The grasping control device 60 based on visual servoing includes: a first acquisition module 61 , a judgment module 62 , an adjustment module 63 and a grasping module 64 . Among them, the specific functions of each module are as follows:

[0101] The first acquisition module 61 is configured to acquire pose information of the target object relative to the grasping device.

[0102] The judging module 62 is configured to judge whether the target object in the current pose information is in the grasping area based on the pose information.

[0103] The adjustment module 63 is configured to adjust the motion state of the grasping device if the target object is in the grasping area.

[0104] The grasping module 64 is configured to grasp the target object in the grasping area when the motion sta...

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Abstract

The invention is applicable to the technical field of robots, and provides a grabbing control method and device based on a visual servo and a robot. The method comprises the following steps that poseinformation of a target object relative to the grabbing device is acquired; whether the target object at the current pose information is in the grabbing area or not is judged on the basis of the poseinformation; if the target object is located in the grabbing area, a motion state of the grabbing device is adjusted; and when the motion state belongs to a preset grabbing state, the target object inthe grabbing area is grabbed. According to the method, the motion state of the grabbing device is actively adjusted according to the pose information of the target object, so that the grabbing deviceis not limited to the movement track of the object, then effective grabbing of the moving object is realized, and high practicability and usability are achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a grasping control method, device and robot based on visual servoing. Background technique [0002] Traditional grasping devices, such as industrial robotic arms, mostly grasp static objects. By determining the position of the static object and planning a path to the position, the static object is grasped. However, effective grasping cannot be carried out for moving objects, especially moving objects with uncertain motion trajectories. [0003] Therefore, it is necessary to propose a solution to solve the above problems. Contents of the invention [0004] In view of this, the embodiments of the present invention provide a grasping control method, device and robot based on visual servoing, so as to realize effective grasping of moving objects. [0005] The first aspect of the embodiments of the present invention provides a grasping control method based on visual ser...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/10B25J9/08
CPCB25J9/08B25J9/10B25J9/16B25J9/1664B25J9/1679
Inventor 熊友军安昭辉唐靖华
Owner UBTECH ROBOTICS CORP LTD