A method, device, electronic device and storage medium for determining a machine grasping position

Abstract

A method, device, electronic device, and storage medium for determining a machine grasping position provided by one or more embodiments of this specification include: acquiring image information of placed objects, generating an image coordinate system; detecting the image information, and distinguishing The sample of the object to be grabbed and the sample of the overlapping area are processed, and an intermediate contour is generated; the first circumscribing rectangle of the intermediate contour is established, and the preselected grabbing point is determined according to the short side of the first circumscribing rectangle, and the preselected grabbing point is determined according to the short side of the first circumscribing rectangle. The position information of the point determines the grabbing point; the coordinate information and angle information of the grabbing point are determined; and the coordinate information and angle information are transmitted to the grabbing arm. One or more embodiments of this specification enable the machine to select the part far away from the overlap when grabbing overlapping objects, and adjust to the corresponding angle at the same time, so that the overlapping objects can be correctly identified, and the correct position of the object can be quickly and accurately grasped. Effectively protect the object itself and the entire tooling process.

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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