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Robot target image capturing method

A target image and robot technology, which is applied in the field of robot target image capture, can solve problems such as easy failure, complex mechanical fingers with dozens of joints, and difficult fingers, and achieve the effect of ensuring stability, convenient image processing, and accurate results.

Pending Publication Date: 2020-12-22
SHENZHEN SANBOT INNOVATION INTELLIGENT CO LTD
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] For a grasping robot, designing and manufacturing a human-like finger is difficult, prone to failure, and using a controller to control the dozens of joints of the robotic finger is also complicated

Method used

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  • Robot target image capturing method

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Embodiment Construction

[0030] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in combination with specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary only, and are not intended to limit the scope of the present invention. Also, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concept of the present invention.

[0031] Such as figure 1 As shown in the present invention, a robot target image capture method proposed, the robot rotates to drive its head 3D camera to identify the target object and take an image;

[0032] The robot moves to the position of the best working space when its manipulator grabs the target;

[0033] The 3D camera shoots the target from different directions, and transmits the image signal to the computer, a...

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Abstract

The invention discloses a robot target image capturing method. The robot target image capturing method comprises the following steps that a robot rotates to drive a 3D camera at the head of the robotto recognize a target object and shoot an image; the robot moves to the optimal working space when a manipulator of the robot grabs the target object; the 3D camera shoots the target object from different directions and transmits an image signal to a computer, and the computer carries out 3D modeling on the target object by using image information; a grabbing pose of an end effector of the manipulator is planned according to inverse kinematics, and a target grabbing path with no collision during movement of the manipulator is generated; and an inverse kinematics model of the manipulator is used for calculating the rotation quantity of each joint motor, an expected track is generated, and the end effector generates corresponding action to coordinate so as to stably grab the target object ina humanoid manner. According to the robot target image capturing method, the 3D camera is used for shooting the image, a visual feedback method is used for positioning the target object, and the expected track for grabbing the target object is calculated according to the inverse kinematics so that an imitation hand can perform human-machine interaction better and can work in a complex environmentmore flexibly.

Description

technical field [0001] The invention relates to the technical field of robot control, in particular to a method for grabbing a robot target image. Background technique [0002] At present, when a robot is used to grab an object, a camera device is generally used to take an image of a product, and then image processing is performed on the captured image to obtain object information such as the size of the object. The object information is then sent to the robot's control unit, enabling the robot to control the specific operations of the robotic arm based on the object information, such as the size of the object and the location of the object as shown in the photo. [0003] Traditional robots are widely used in the industrial field due to their high rigidity, high strength, high precision, and high speed. However, when many scientific researchers and technicians make great efforts, masters and apprentices expand the application of rigid robots from industrial production lines ...

Claims

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1697B25J9/1666B25J9/1605
Inventor 庄永军
Owner SHENZHEN SANBOT INNOVATION INTELLIGENT CO LTD
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