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Target object grasping method, device, storage medium and electronic device

A technology of target objects and target coordinates, which is applied in the fields of storage media and electronic equipment, target object grasping methods and devices, can solve the problems of low accuracy of grasping position selection, and achieves improved selection accuracy and improved grasping stability. , the effect of reducing the risk of damage

Active Publication Date: 2022-07-12
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present disclosure is to provide a target object grasping method, device, storage medium and electronic equipment to solve the problem of low accuracy in selecting the grasping position of the target object in the related art

Method used

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  • Target object grasping method, device, storage medium and electronic device
  • Target object grasping method, device, storage medium and electronic device
  • Target object grasping method, device, storage medium and electronic device

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Experimental program
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Effect test

Embodiment

[0158] 1. A method for grasping a target object, comprising:

[0159] Determine the target coordinates of each input point in the target object according to the 3D point cloud corresponding to the target object;

[0160] Based on the downsampling method, a seed point is generated according to the target coordinates of each input point;

[0161] The original coordinates of each of the seed points are input into the grasping axis endpoint prediction model to obtain the grasping axis endpoint coordinates of the target object;

[0162] The grasping posture of the robot is determined according to the coordinates of the end points of the grasping axis, and the robot is controlled to adjust the posture according to the grasping posture and grasp the target object according to the coordinates of the end points of the grasping axis.

[0163] 2. According to the method of Embodiment 1, the grasping axis endpoint prediction model generates the grasping axis endpoint coordinates of the t...

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Abstract

The present disclosure relates to a method, device, storage medium and electronic device for grabbing a target object, so as to solve the problem of low accuracy in selecting a grabbing position of a target object in the related art, including: according to a 3D point cloud corresponding to the target object Determine the target coordinates of each input point in the target object; generate seed points according to the target coordinates of each input point based on the downsampling method; input the original coordinates of each of the seed points into the grasping axis endpoint prediction model in order to obtain the coordinates of the end points of the grasping axis of the target object; determine the grasping pose of the robot according to the coordinates of the end points of the grasping axis, and control the robot to adjust the pose according to the grasping The target object is grasped according to the end point coordinates of the grasping axis. In this way, the selection accuracy of the grasping position of the target object is improved.

Description

technical field [0001] The present disclosure relates to the technical field of computer vision, and in particular, to a target object grasping method, device, storage medium and electronic device. Background technique [0002] 6D Object Pose Estimation refers to the translation and rotation transformation of the camera coordinate system relative to the world system where the original object is located at the moment when the current image is captured. Among them, there are 3 displacement degrees of freedom and 3 rotational degrees of freedom. Based on the 6D pose of the object, the 6D grasping pose information of the grasping robot can be accurately determined, so that the accuracy of object grasping can be improved. [0003] In related scenes, the grasping feature points are determined according to the geometric structure of the target object, and the optimal grasping position of the grasping robot and the pose of the robotic arm of the grasping robot are pre-calibrated by...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1697B25J9/1602
Inventor 不公告发明人
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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