Method for realizing accurate grasping by combining three-dimensional vision recognition

A three-dimensional vision and precise technology, applied in the direction of program control manipulator, manufacturing tool, manipulator, etc.

Active Publication Date: 2020-10-20
苏州国岭技研智能科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0006] Aiming at the problem that the existing mechanical arm cannot achieve accurate grasping, the present invention provides a method that combines three-dimensional visu...

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  • Method for realizing accurate grasping by combining three-dimensional vision recognition
  • Method for realizing accurate grasping by combining three-dimensional vision recognition
  • Method for realizing accurate grasping by combining three-dimensional vision recognition

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Embodiment Construction

[0043] Exemplary embodiments of the present invention are described in detail below. While these exemplary embodiments have been described in sufficient detail to enable those skilled in the art to practice the invention, it should be understood that other embodiments can be implemented and that various changes can be made without departing from the spirit and scope of the invention. . The following more detailed description of the embodiments of the invention is not intended to limit the scope of the invention as claimed, but merely to illustrate and not limit the description of the features and characteristics of the invention, in order to suggest the best mode of carrying out the invention , and are sufficient to enable those skilled in the art to implement the present invention. Accordingly, the scope of the invention is to be limited only by the appended claims.

[0044] The workpieces of the present invention can be 3C electronic products, metal processing parts, etc.,...

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Abstract

The invention discloses a method for realizing accurate grasping by combining three-dimensional vision recognition, and belongs to the technical field of mechanical arm application. The method comprises the steps of step S101, building a mechanical arm device which can realize accurate grasping by three-dimensional vision recognition; step S102, obtaining three-dimensional point cloud data of a target workpiece by using a three-dimensional vision recognition mechanism, and using the three-dimensional point cloud data as a benchmark model; step S103, controlling the calibration point location of the mechanical arm, and obtaining a coefficient conversion matrix between a depth camera and the mechanical arm; step S104, training and calculation by the step S103: collecting the visual information of the depth camera of the vision recognition mechanism, and conducting three-dimensional visual guidance when the mechanical arm moves; and by system calibration, obtaining the point cloud data and conducting pose estimation for the workpiece, calculating the grasping movement track of the workpiece, and controlling the mechanical arm to grasp and place the workpiece. The method has high flexibility and adaptability.

Description

technical field [0001] The invention belongs to the technical field of mechanical arm application, and more specifically relates to a method for realizing precise grasping combined with three-dimensional visual recognition. Background technique [0002] The robotic arm is a complex system with high precision, multiple input and multiple output, highly nonlinear, and strong coupling. In actual industrial sorting and other occasions, there is often a need to sort workpieces of different specifications. Existing industrial sorting technologies are mainly based on related technologies such as QR codes and laser scanning. On the one hand, the two-dimensional code technology requires the object to be measured to be accompanied by a two-dimensional code, which has a narrow application range; on the other hand, the two-dimensional code may be worn and blocked, and the identification is inaccurate. Laser scanning is used in industry, and the cost of use is relatively high. By usin...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1697B25J9/1664
Inventor 陆可李玉何天嘉邹启鸣
Owner 苏州国岭技研智能科技有限公司
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