Machine vision-based robot disorderly grasping method and system and storage medium

A technology of machine vision and robotics, applied in the field of 3D disorderly grasping, can solve problems such as limitations and poor flexibility, and achieve the effect of improving accuracy and integrity, improving accuracy, and improving target detection accuracy

Active Publication Date: 2021-02-05
纳博特南京科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the existing technology, most of the robots on the production line realize various operations through teaching reproduction or pre-programming. To complete the grabbing and placement of parts, they must go through precise point-by-point teaching, which has great limitations. , poor flexibility

Method used

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  • Machine vision-based robot disorderly grasping method and system and storage medium
  • Machine vision-based robot disorderly grasping method and system and storage medium
  • Machine vision-based robot disorderly grasping method and system and storage medium

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Embodiment Construction

[0034] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings, and the described embodiments should not be considered as limiting the present invention, and those of ordinary skill in the art do not make any All other embodiments obtained under the premise of creative labor belong to the protection scope of the present invention.

[0035] see figure 1, is a robot disorder grasping system based on machine vision provided by an embodiment of the present invention, the system includes: an image acquisition module, a target pose estimation module, a hand-eye system calibration module, and a robot grasping module.

[0036] Wherein, the image acquisition module uses the kinect camera that has been calibrated to acquire image data on the surface of the target object, and preprocesses the image data to obtain three-dimensional point ...

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Abstract

The invention discloses a machine vision-based robot disorderly grasping method and system. By building the grasping system of kinect camera and robot, using the kinect camera to collect image data on the surface of the target object, and preprocessing the image data to obtain three-dimensional point cloud data; Detection, target segmentation, target clustering, key point feature extraction, feature registration, identifying target objects, and obtaining the pose information of the target object; according to the calibration results of the hand-eye system, the coordinate transformation of the pose information is carried out to The robot sends out control instructions to realize the grasping of the target object. By analyzing the lack of algorithms in the robot's disorderly grasping process, and by improving the existing algorithms to adapt to the complex environment in which the robot is located, the accuracy of the robot's disorderly grasping and the flexibility of the robot are improved.

Description

technical field [0001] The invention relates to the technical field of robot vision systems, in particular to a method, system and storage medium for 3D disorderly grasping. Background technique [0002] With the rapid expansion of the robot market and the rapid maturity of robot technology, the industrial robot industry has ushered in unprecedented opportunities for development. The original human-oriented production model has gradually changed to a production model dominated by industrial robots. The extensive use of industrial robots has promoted the rapid transformation of my country's industry from a "manufacturing power" to a "smart manufacturing power". [0003] However, in the process of robot operation, how to accurately grasp the randomly stacked parts or goods has become a hot issue in current research. In the existing technology, most of the robots on the production line realize various operations through teaching and reproduction or pre-programming. To complete...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/50G06T7/11G06T7/33G06T7/80G06K9/62G06N3/04G06T5/00G01C11/02
CPCG06T7/50G06T7/11G06T7/33G06T7/85G06T5/002G01C11/02G06V10/757G06N3/045G06F18/23
Inventor 甘亚光张晓龙甘亚辉刘元建廖连莹
Owner 纳博特南京科技有限公司
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