Object clamping method and robot

A technology for objects and objects, which is applied in the field of object grasping methods and robots, can solve problems such as failure to grasp, low probability of successful object grasping, unstable object grasping, etc., and achieve the effect of improving success rate and efficiency

Active Publication Date: 2019-11-29
GUANGDONG GONGYE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The embodiment of the present application provides an object gripping method and a robot, which can solve the problems in

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  • Object clamping method and robot
  • Object clamping method and robot
  • Object clamping method and robot

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[0065] In the following description, for the purpose of illustration rather than limitation, specific details such as a specific system structure and technology are proposed for a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from obstructing the description of this application.

[0066] It should be understood that when used in the specification and appended claims of this application, the term "comprising" indicates the existence of the described features, wholes, steps, operations, elements and / or components, but does not exclude one or more other The existence or addition of features, wholes, steps, operations, elements, components, and / or collections thereof.

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Abstract

The invention is suitable for the technical field of computer application, and provides an object clamping method and a robot. The method comprises the following steps that surface information of a to-be-clamped object is acquired, and contour information can be extracted from the surface information; the gravity center and the object direction of the to-be-clamped object are determined accordingto the contour information; the clamping position and the posture of the to-be-clamped object are determined according to the gravity center and the object direction; and the to-be-clamped object is clamped according to the clamping position and the posture. According to the contour information of the to-be-clamped object, the gravity center and the object direction of the object are determined, then the clamping position and the posture of the to-be-clamped object are determined according to the gravity center and the object direction, finally, the object is clamped according to the clampingposition and the posture, the accuracy of object clamping is improved, and the success rate and the efficiency of heavy-duty garbage clamping are improved especially in visual separation of the heavy-duty garbage.

Description

technical field [0001] The present application belongs to the technical field of computer application, and in particular relates to a method and a robot for picking up objects. Background technique [0002] In garbage visual sorting, heavier or larger objects, such as stones, metal, plastic cans, etc. in garbage, belong to this category. If robot sorting is used, a better solution is to use clamps Claws to pick up heavy waste. Then at this time, it is necessary to obtain an optimal gripping scheme for various garbage shapes, positions and postures. [0003] In the prior art, the surface information obtained from the deep learning prediction results, that is, mask information, is obtained from the obtained mask information through pixel information to its upper, lower, left, and right limit values, and a rectangular frame is drawn. However, when the upper and lower margins of the object are shorter than the left and right margins, the clamping position is the center of the ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1697B25J9/1602
Inventor 莫卓亚罗海城刘涛
Owner GUANGDONG GONGYE TECH CO LTD
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