Method and equipment for determining grabbing position of machine, electronic equipment and storage medium

Abstract

One or more embodiments of the invention provide a method and equipment for determining the grabbing position of a machine, electronic equipment and a storage medium. The method comprises steps as follows: acquiring image information of a placed object to generate an image coordinate system; detecting the image information, recognizing a to-be-grabbed object sample and an overlapping region sample, and carrying out image processing to generate a middle contour; establishing a first bounding rectangle of the middle contour, determining a preliminarily selected grabbing point according to shortsides of the first bounding rectangle, and determining a grabbing point according to position information of the preliminarily selected grabbing point; determining coordinate information and angle information of the grabbing point; and transmitting the coordinate information and the angle information to a grabbing arm. According to one or more embodiments, when the machine grabs an overlapped object, grabbing is performed by selecting the position away from the overlapped part, meanwhile, the corresponding angle can be adjusted, the overlapped object can be correctly recognized, the correct position of the object is grabbed rapidly and accurately, and therefore, the object body and the whole tooling process are effectively protected.

Description

technical field [0001] One or more embodiments of this specification relate to the technical field of automation control, and in particular to a method, device, electronic device and storage medium for determining a machine grasping position. Background technique [0002] With the development of artificial intelligence technology, robots play an increasingly important role in industrial production and family life. Robotic grasping is an important means to realize human-computer interaction. Through the operating gripper installed at the end of the mechanical arm, the robot can realize the grasping operation of the target, which can be applied to the fields of assembly line sorting, home service, etc. The grasping of parts has already Become an important part of robot application. [0003] At present, the robotic arm based on machine vision can automatically identify and grasp the workpiece, but it can only identify and grasp a single workpiece. If two workpieces are connect...

AI Technical Summary

Problems solved by technology

[0003] At present, the robotic arm based on machine vision can automatically identify and grasp the workpiece, but it can only identify and grasp a single workpiece. If two workpieces are connected together, the robotic arm cannot accurately identify and grasp, and the wrong grasp Picking often causes damage to the workpiece, damage to the assembly, etc., seriously affecting work efficiency and work costs

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