A ros-based autonomous mobile grabbing system and method

A technology for autonomous movement and mobile trolley, applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., which can solve the problems of single function, difficult to complete complex integration tasks, and immaturity.

Active Publication Date: 2021-05-07
HANGZHOU DIANZI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] With the increasingly serious problem of aging, the society is forced to transfer more manpower and material resources to the care of the elderly. Service robots can largely release the human input in daily work, but at present, most service robots are Single-function, conversational robots, and mobile robots with anthropomorphic, autonomous environment perception, and visual guidance tasks are still in the research stage and are not mature enough to complete complex and integrated tasks

Method used

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  • A ros-based autonomous mobile grabbing system and method
  • A ros-based autonomous mobile grabbing system and method
  • A ros-based autonomous mobile grabbing system and method

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Embodiment Construction

[0040] An autonomous mobile grasping system based on ROS, the system is divided into four parts: image acquisition module, visual navigation module, pose detection module and grasping control module; the image acquisition module consists of RGB-D camera, NVIDIA Jetson TX2 and rotation The pan / tilt module is composed of RGB-D camera and NVIDIA Jetson TX2 responsible for collecting color images and depth images. The pan / tilt control module is composed of motor and Bluetooth control board. When performing visual navigation tasks, it controls the pan / tilt to control the camera to turn to the horizontal direction , when performing pose detection tasks, control the gimbal to control the camera to turn to the vertical direction; the visual navigation module is composed of a mobile car, an infrared sensor and an NVIDIA GeForce GTX 1080Ti server; the RGB-D camera collects scene color images and depth images and transmits them To the server, the server executes the SLAM algorithm to cons...

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Abstract

The invention relates to a ROS-based autonomous mobile grabbing system and method. The invention can be divided into an image acquisition module, a visual algorithm processing module, a pose detection module and a grasping control module. The method realizes the environment perception, visual navigation, and real-time object pose estimation and grasping functions of the mobile robot in an unfamiliar environment. Combining mobile robots with machine vision enables robots to perform smarter tasks, provide good service, and reduce unnecessary burdens. The invention has the advantages of high efficiency, high detection precision, real-time detection, good adaptability, etc., can release manpower input in daily work to a large extent, and has strong market potential. It greatly facilitates the work and life of the service people, and helps to promote the improvement of living standards.

Description

technical field [0001] The invention belongs to the field of machine vision, and in particular relates to a ROS-based autonomous mobile grabbing system and method. Background technique [0002] With the increasingly serious problem of aging, the society is forced to transfer more manpower and material resources to the care of the elderly. Service robots can largely release the human input in daily work, but at present, most service robots are Single-function, conversational robots, and mobile robots with anthropomorphic, autonomous environment perception, and visual guidance tasks are still in the research stage and are not mature enough to complete complex and integrated tasks. In addition, mobile robots are more and more widely used in disaster rescue, military investigation and other places. For high-risk places, the use of mobile robots can largely reduce casualties, but how to integrate visual sensing technology with automatic control, motion planning, visual navigatio...

Claims

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Application Information

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Patent Type & AuthorityPatents(China)
IPC IPC(8): B25J9/16B25J5/00
CPCB25J5/007B25J9/1602B25J9/1694B25J9/1697
Inventor杨宇翔孙卫军高明煜董哲康林辉品曾毓
OwnerHANGZHOU DIANZI UNIV