Unlock instant, AI-driven research and patent intelligence for your innovation.

Control method and device of mechanical arm, terminal equipment and readable storage medium

A control method and manipulator technology, applied in the field of robotics, can solve the problems of time-consuming and inability to quickly determine the grasping posture, and achieve the effect of fast grasping posture

Active Publication Date: 2020-04-17
UBTECH ROBOTICS CORP LTD
View PDF6 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Obviously, the traditional way of determining the grasping attitude is time-consuming and cannot quickly determine the grasping attitude.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Control method and device of mechanical arm, terminal equipment and readable storage medium
  • Control method and device of mechanical arm, terminal equipment and readable storage medium
  • Control method and device of mechanical arm, terminal equipment and readable storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0032] The following describes the manipulator control method provided in Embodiment 1 of the present application, please refer to the attached figure 1 , the control method includes:

[0033] In step S101, the center of gravity position information of the object to be captured is obtained, and the point cloud data of the captured scene is obtained, wherein the captured scene is a scene including the object to be captured;

[0034] In Embodiment 1 of the present application, it is first necessary to obtain the center of gravity position information of the object to be captured and the point cloud data of the above-mentioned captured scene.

[0035] Among them, the position information of the center of gravity of the object to be grasped can be determined through manual experiments in advance. However, for objects with relatively uniform mass distribution, the position information of the center of gravity can also be directly determined. For example, for a cuboid with uniform d...

Embodiment 2

[0059] Another manipulator control method provided in Embodiment 2 of the present application is described below, please refer to the attached image 3 , the method includes:

[0060] In step S301, the center of gravity position information of the object to be captured is obtained, and the point cloud data of the captured scene is obtained, wherein the captured scene is a scene including the object to be captured;

[0061] In step S302, based on the above-mentioned point cloud data of the captured scene, identify each point cloud point belonging to the object to be captured in the point cloud data, and determine the object to be captured according to each point cloud point belonging to the edge Get the three-dimensional size information of the object;

[0062] In step S303, the above-mentioned three-dimensional size information and the above-mentioned center of gravity position information are input into the pre-trained first neural network model to obtain the grasping postur...

Embodiment 3

[0073] Embodiment 3 of the present application provides a manipulator control device. For ease of description, only the relevant parts of the application are shown, such as Figure 4 As shown, the control device 400 includes:

[0074] The information acquisition module 401 is configured to acquire the position information of the center of gravity of the object to be captured, and acquire the point cloud data of the captured scene, wherein the captured scene is a scene including the above-mentioned object to be captured;

[0075] The size determination module 402 is configured to identify each point cloud point belonging to the edge of the object to be captured in the above-mentioned point cloud data based on the point cloud data of the above-mentioned captured scene, and determine the above-mentioned point cloud point according to each point cloud point belonging to the above-mentioned edge The three-dimensional size information of the object to be captured;

[0076] The pos...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a control method and device of a mechanical arm, terminal equipment and a readable storage medium. The method comprises the steps that the gravity center position information ofa to-be-grabbed object is acquired, the point cloud data of a grabbing scene are acquired, and the grabbing scene is the scene including the above to-be-grabbed object; based on the point cloud dataof the above grabbing scene, various point cloud points belonging to the edge of the above to-be-grabbed object in the point cloud data are recognized out, and the three-dimensional dimension information of the above to-be-grabbed object is confirmed according to the point cloud points belonging to the above edge; and the above three-dimensional dimension information and the above gravity center position information are input into a trained first neural network model, and the grabbing posture, output by the first neural network model, of the mechanical arm is obtained, wherein the grabbing posture comprises the position of the mechanical arm on the above to-be-grabbed object when the above to-be-grabbed object is grabbed. The grabbing posture can be fast confirmed to a certain degree.

Description

technical field [0001] The present application belongs to the technical field of robots, and in particular relates to a manipulator control method, a manipulator control device, terminal equipment, and a computer-readable storage medium. Background technique [0002] Robotic gripping of objects is currently used in many application areas, such as logistics, automotive production, glass handling, and airport luggage transfer. [0003] Before the manipulator performs the grasping operation, it is necessary to first determine the grasping posture (the grasping posture may include: when grasping the object to be grasped, the position of the manipulator on the object to be grasped). At present, the grasping posture is generally determined as follows: the manipulator executes the grasping operation with a preset initial grasping posture, and if the object cannot be grasped, the current grasping posture is continuously corrected until the object can be grasped. [0004] Obviously,...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J13/00B25J13/08
CPCB25J9/1602B25J9/161B25J9/1664B25J13/00B25J13/08B25J13/088
Inventor 黄启彪熊友军
Owner UBTECH ROBOTICS CORP LTD