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Method and device for controlling mechanical arm

A mechanical arm and equipment control technology, applied in the field of robotics, can solve problems such as high cost, inability to accurately distinguish food on bakeware, and inability to provide reliable feedback from fingertip force sensors. It achieves high precision and avoids high equipment requirements. The effect of improving robustness

Inactive Publication Date: 2020-09-29
北京如影智能科技有限公司
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Problems solved by technology

At present, food can be picked up by visible light images and fingertip force sensors. However, it is usually impossible to accurately distinguish between the bakeware and the food on it through such images, and the fingertip force sensors cannot be reliably detected in high temperature environments. Feedback, and higher cost

Method used

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  • Method and device for controlling mechanical arm
  • Method and device for controlling mechanical arm
  • Method and device for controlling mechanical arm

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Embodiment Construction

[0063] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention.

[0064] In some processes described in the specification and claims of the present invention and the above-mentioned drawings, a plurality of operations appearing in a specific order are contained, but it should be clearly understood that these operations may not be performed in the order in which they appear herein Execution or parallel execution, the serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. Additionally, these processes can include more or fewer operations, and these operations can be performed sequentially or in parallel. It should be n...

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Abstract

The invention discloses a method and device for controlling a mechanical arm. The method is used for accurately determining three-dimensional coordinates of a clamping point so as to realize a stableand robust clamping process. The method comprises the steps that an image of the environment where a cooking object is located is acquired, and the image comprises an infrared thermal image and a depth image; the edge of the cooking object is determined according to the infrared thermal image; the three-dimensional coordinates of the clamping point are determined according to the edge of the cooking object and the depth image; and an instruction is sent to mechanical arm control equipment according to the three-dimensional coordinates of the clamping point, so that the mechanical arm control equipment can control a mechanical arm to move and clamp the cooking object at the clamping point.

Description

technical field [0001] The present invention relates to the technical field of robots, and more particularly, to a method for controlling a mechanical arm. Background technique [0002] With the mature application of industrial robotic arms in the sorting technology of industrial production lines, and the successful expansion of three-dimensional storage and medical treatment in recent years, the demand for intelligent industrial robotic arms in various industries is increasing, and the robotic arms will also become more and more The more people's arms are replaced to complete more complex and sophisticated process work, the smart home, smart kitchen and other industry segments will undoubtedly be an important stage for robotic arms to flex their muscles. For example, a robotic arm can be used to pick up food on a baking tray. At present, food can be picked up by visible light images and fingertip force sensors. However, it is usually impossible to accurately distinguish be...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G06T7/13
CPCB25J9/16B25J9/1664G06T7/13
Inventor 王琪孙雷
Owner 北京如影智能科技有限公司
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