Point cloud collision detection method applied to robot grabbing scene

Abstract

The invention provides a point cloud collision detection method applied to a robot grabbing scene. The method comprises the following steps of S1, constructing a bounding box model of a robot clampingjaw, and collecting point cloud data in a workpiece region; S2, establishing a robot coordinate system, a vertex coordinate system and a point coordinate system, and obtaining a homogeneous transformation matrix; S3, obtaining the coordinates of each vertex of the bounding box model and the coordinates of each point of a point cloud under the robot coordinate system respectively according to thehomogeneous transformation matrix; S4, judging the relationship between each point of the point cloud and the bounding box model, and obtaining the quantity of the points, in the bounding box model, of the point cloud; and S5, comparing the quantity of the points, in the bounding box model, of the point cloud with a preset threshold so as to detect whether the clamping jaw collides with an actualobject or not in advance. According to the point cloud collision detection method applied to the robot grabbing scene, the problem of unstable grabbing caused by a collision conflict between a clamping jaw and other workpieces touched by the clamping jaw in the workpiece grabbing process of a robot currently is solved.

Description

technical field [0001] The present invention relates to the technical field of robot vision, and more specifically, to a point cloud collision detection method for a robot grabbing scene. Background technique [0002] With the reduction of labor costs and the development of robotics and computer vision technology, the proportion of robots used in the production process will increase. 3D vision-guided robot grasping is a key technology to realize the intelligent production of robots. At present, due to the complexity of the production environment and the instability of 3D visual recognition, in the actual production process, 3D vision will recognize that the underlying workpiece or the clamping position of the workpiece interferes with each other, so that the jaws will encounter other objects during the grasping process. Workpieces cause collisions, resulting in unstable gripping. [0003] In the prior art, such as the Chinese patent disclosed on July 12, 2019, a robot moti...

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Problems solved by technology

[0004] The present invention provides a point cloud collision detection method for a robot grabbing scene in order to overcome the current technical defect that the grippers of the robot will collide with other workpieces during the process of grabbing the workpiece and cause collisions, resulting in unstable grabbing.

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