A method, device and system for controlling a collaborative robot to grab an object

Abstract

The embodiment of the present application discloses a method, device and system for controlling a collaborative robot to grab an object. By setting the 3D binocular camera on the robot body and the monocular camera at the end of the mechanical arm, before encountering the object to be grabbed, When there is an obstacle, the robot arm can be used to bypass the obstacle, and then perform single-frame data collection and recognition on the back side of the obstacle, which effectively solves the problem that the existing collaborative robot cannot complete the grasp when there is an obstacle in front of the object to be grasped. The shortcoming is that grabbing objects with obstacles does not require real-time control of the manipulator to move the monocular camera to complete the 3D reconstruction of the object, does not require a powerful processor, and reduces system costs; A large amount of data is collected and trained. Therefore, it does not take a long time to evaluate the depth with a monocular camera, which significantly improves the grasping success rate and grasping efficiency of objects with obstacles.

Description

technical field [0001] The present application relates to the field of robotics, and in particular, to a method, device and system for controlling a collaborative robot to grab an object. Background technique [0002] With the rapid development of science and technology, collaborative robots have been widely used in industrial production, logistics, metallurgy, medical, and 3C industries. They are used to replace repetitive and mechanical tasks such as grasping and handling by human hands. In addition, collaborative robots can also replace human hands to perform some complex and dangerous work, ensuring the personal safety of operators to a greater extent. [0003] Existing collaborative robots usually include a chassis, a robot body disposed on the chassis, and a robotic arm connected with the robot body. In a common collaborative robot, a 3D binocular camera is set on the head of the robot body. When grabbing an object, the chassis of the collaborative robot moves to a de...

AI Technical Summary

Problems solved by technology

[0005] This application provides a method, device and system for controlling a collaborative robot to grab an object, so as to solve the problem that the existing technology cannot complete the grabbing when there is an obstacle in front of the object, or the grabbing success rate and grabbing efficiency are significantly reduced The problem

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