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Vision-based method for grasping space cube with manipulator

A cube and manipulator technology, applied in the field of computer vision, can solve the problems of low real-time performance and difficulty of cube objects, and achieve the effect of reducing production cost, high accuracy and simple algorithm

Active Publication Date: 2020-07-03
TIANJIN UNIV OF TECH & EDUCATION TEACHER DEV CENT OF CHINA VOCATIONAL TRAINING & GUIDANCE
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The above method is more difficult to screen out cube objects, and the real-time performance is not high. Therefore, the present invention designs a high-real-time and accurate method for manipulators to grab space cubes to provide a basis for manipulators to accurately grab space cube objects.

Method used

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  • Vision-based method for grasping space cube with manipulator
  • Vision-based method for grasping space cube with manipulator
  • Vision-based method for grasping space cube with manipulator

Examples

Experimental program
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Embodiment 1

[0030] A vision-based manipulator grasping space cube method, the method is based on the vision-based manipulator grasping space cube, see figure 1 and figure 2 , the method includes the following steps:

[0031] 101: Mark the five surfaces of the cube with different colors, see image 3 ; Make a circular mark of an appropriate size on the upper left corner of each face. The radius of the circular mark is about one-tenth of the side length of the cube, and the center of the circle is located on the diagonal of the cube surface; use a Kinect v2 camera to continuously capture the cube color and depth images.

[0032] Among them, the embodiment of the present invention uses the example that the radius of the circular mark is about one-tenth of the side length of the cube to be described. In actual implementation, the embodiment of the present invention does not limit this value, and it is set according to the needs of practical applications. Certainly.

[0033] Among them, t...

Embodiment 2

[0045] The operation steps of this embodiment are as follows:

[0046] 201: Initialize;

[0047] Among them, this step is specifically: configure the Kinect v2 camera, place the Kuka 7-axis robotic arm in a position facing the camera, and ensure that the distance between the camera and the robotic arm is between 0.6m and 1.3m, so that the camera can collect images.

[0048] The side length of the cube used in the embodiment of the present invention is 10cm, and the five surfaces of the cube are respectively painted with cyan, red, pink, blue and yellow. image 3 and Figure 4 ;Paste a white circular mark on the upper left corner of the five sides, with a radius of about 1cm.

[0049] 202: Using the Kinect v2 camera to continuously collect the color and depth images of the cube;

[0050] In the embodiment of the present invention, the size of the color image collected by the camera is 1920*1080, and the size of the depth image is 512*424.

[0051] 203: Segment a certain face ...

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Abstract

The invention discloses a vision-based method for grasping a space cube with a manipulator. The vision-based method comprises the following steps of mapping pixel coordinates of found four vertexes toa depth image, and calculating space coordinates of the four vertexes on one surface of a cube under a camera coordinate system; calculating the center-of-mass coordinate of the cube by fitting the space coordinates with a space plane; calculating included angles between a plane normal vector and an axis X as well as between the plane normal vector and an axis Y, calculating two points being closest to and farthest from a marked center of circle in the four vertexes, and calculating an included angle between a straight line passing through the two points and an axis Z; if the rotation angle of a current position relative to an original position is greater than 90 degrees, adding a corresponding offset to the currently-calculated angle; converting the center-of-mass coordinate of the cubeunder the camera coordinate system, the included angles between the normal vector and the axis X as well as between the normal vector and the axis Y, and an included angle between a plane diagonal andthe axis Z into the center-of-mass coordinate of the cube under a mechanical arm coordinate system and a corner around a coordinate axis; and adjusting the manipulator position to be consistent withthe center of mass of the cube by a mechanical arm, and then adjusting the manipulator to rotate by a corresponding angle to grasp the cube.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to a vision-based method for a manipulator to grab a spatial cube. Background technique [0002] With the rapid development of industrial automation technology, more and more companies are beginning to use automated robots to replace manpower, and the scope of use of robots is becoming wider and wider. Therefore, improving the real-time and accuracy of robot work has become the development of the industrial robot industry. The goal. Accurate positioning of the target object is the key to the precise grasping of the target object by the manipulator. The position coordinates and rotation posture of the target object can guide the manipulator to accurately grasp the target and complete specific tasks such as handling, processing, and sorting of the target object. [0003] At present, the robot manipulator has the following methods for detecting and grasping the cube target object: [0...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1697
Inventor 于雅楠华春杰李建平史敦煌
Owner TIANJIN UNIV OF TECH & EDUCATION TEACHER DEV CENT OF CHINA VOCATIONAL TRAINING & GUIDANCE