System capable of displaying grabbing poses in real time

Abstract

The invention discloses a system capable of displaying grabbing poses in real time. The system comprises a mechanical arm part, a camera part, a target object and a computer; the mechanical arm part comprises a six-freedom-degree mechanical arm and a two-finger clamping jaw, and the six-freedom-degree mechanical arm is connected with the two-finger clamping jaw; the camera part comprises a depth camera which is connected with the computer; the computer comprises an algorithm processing unit which is used for computing grabbing poses of the mechanical arm, the camera and the target object; andthe target object is placed below the camera, the mechanical arm part moves from top to bottom along a track, in the process, the camera obtains a depth image of the target object and sends the depthimage to the computer, the depth image is processed by the algorithm processing unit of the computer to obtain an information entropy diagram, and a variation diagram of the best grabbing pose of thetarget object, the depth image obtained from the camera and the information entropy diagram are displayed in a display screen of the computer.

Description

technical field [0001] The invention relates to the field of visual grasping of a mechanical arm, in particular to a system capable of displaying grasping poses in real time. Background technique [0002] In recent years, the visual grasping of robotic arms has gradually become a research hotspot, and related applications have gradually entered the market. Most of the existing robotic arm grasping systems rely on high-performance hardware devices, such as multi-core processors, graphics cards with sufficient memory, and so on. This kind of visual capture system that relies on traditional image recognition is difficult to implement in actual scenarios. For example, the high-performance graphics card TITAN used in the paper "Deep Object Pose Estimation for Semantic Robotic Grasping of HouseholdObjects" published by NVIDIA is very expensive. On the one hand, high prices and demanding hardware requirements limit its promotion. On the other hand, the use of general hardware eq...

AI Technical Summary

Problems solved by technology

[0004]This invention proposes a system that can display the grasping pose in real time. Take the pose and other issues, fully explain the components of the system, the communication mode between each part and the specific processing method, and shorten the calculation time through the method of high-efficiency grid graph calculation, and realize the real-time display of the best grasping pose function of

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