Mechanical hand target grabbing positioning method, computer readable storage medium and mechanical hand
A technology for grasping positioning and storage media, applied to manipulators, computer parts, program-controlled manipulators, etc., can solve problems such as time-consuming, complicated calculation process, inconvenient manipulator grasping, etc., and achieve the effect of convenient grasping
Pending Publication Date: 2020-07-10
GUANGZHOU FUGANG WANJIA INTELLIGENT TECH CO LTD
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Problems solved by technology
Based on the coordinate transformation relationship obtained by the above hand-eye calibration method, the manipulator can only perform accurate grasping operations in the calibrated area. If the target to be grasped is outside the calibrated area, it is necessary to increase the calibrated area to achieve the grasping operation. However, , this hand-eye calibration method requires the use of a plane calibration board, and the calculation process is complex and time-consuming. It is difficult to increase the calibration area in a short time, and it is inconvenient for the manipulator to grab the target in the original uncalibrated area.
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[0013] The cooking area of the smart kitchen is equipped with manipulators, such as figure 1 As shown, the base of the manipulator 2 is installed on the cooking table 1, the camera 3 moving with the manipulator 2 is installed on the manipulator 2, and the gripper is installed at the end of the manipulator 2 to grab the target. When installing the manipulator, retrieve the structural data of the manipulator’s working scene from the database of the smart kitchen, identify geometric features such as squares and right-angled triangles that are convenient for image correction in the retrieved structural data, and incorporate simple features into the identified data structure , and objects with stable geometric features are recorded as auxiliary locators. Such as figure 1 In the cooking table 1, the water tank 4 on the top of the cooking table 1 has a rectangular top opening, and the length and width of the rectangular opening have been recorded in the structural data of the wate...
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The invention relates to the technical field of mechanical hand control, in particular to a mechanical hand target grabbing positioning method, a computer readable storage medium and a mechanical hand. The computer readable storage medium is stored in a mechanical hand, and a mechanical hand target grabbing positioning method is realized while a mechanical hand processor performs computer programin the computer readable storage medium. In mechanical hand grabbing operation, an auxiliary positioning object is arranged for helping the mechanical hand to perform target grabbing positioning as follows: obtaining a position relationship between the auxiliary positioning object and a target, and deducing out a position relationship between a camera and the auxiliary positioning object by geometrical characteristics of the auxiliary positioning object in an image and geometrical characteristics of a pre-stored auxiliary positioning object; and deducing out a position relationship between thecamera and the target by taking a position relationship between the auxiliary positioning object and the target and a position relationship between the auxiliary positioning object and the camera asconditions. According to the mechanical hand target grabbing positioning method disclosed by the invention, the geometrical characteristics of the auxiliary positioning object can be increased by updating a database, so that the purpose of grabbing and placing the mechanical hand on different positions is achieved.
Description
technical field [0001] The present invention relates to the technical field of manipulator control, in particular to a manipulator target grasping and positioning method, a computer-readable storage medium and a manipulator, wherein the computer-readable storage medium is stored in the manipulator, and the manipulator processor executes the computer program in the computer-readable storage medium A method to realize the target grasping and positioning of the manipulator. Background technique [0002] With the rapid development of machine vision technology, more and more industrial manipulators and equipment with manipulators use the vision system as a navigation tool for manipulator operations. The Eye-in-Hand system is widely used in industrial robots. The camera is fixed at the end of the manipulator and moves with the movement of the manipulator. The processor of the manipulator uses the Eye-in-Hand vision system to provide navigation guidance for the manipulator. Before...
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Login to View More IPC IPC(8): B25J9/16G06F16/583G06K9/00
CPCB25J9/1612B25J9/1669B25J9/1679B25J9/1697G06F16/5854G06V20/10
Inventor傅峰峰江志强刘嘉荣李航
OwnerGUANGZHOU FUGANG WANJIA INTELLIGENT TECH CO LTD