A method and system for workpiece grasping and toggling intervention

Abstract

The invention discloses a workpiece grasping and dialing intervention method and system. The method includes: S1, acquiring the image information of the workpiece in the stacking scene, S2, identifying the workpiece according to the image information, and acquiring the number of candidate workpieces that can be grasped in the stacking scene, S3, if the number of candidate workpieces is less than or equal to the set value, Then trigger the toggle intervention strategy to perform a toggle action on the stacked workpieces, S4, repeat steps S2 and S3 until the number of candidate workpieces is greater than or equal to the set value + 1, then the workpiece grabbing operation is performed. The invention realizes the planning of the toggle path through the grid method, and coordinates and optimizes the recognition and grasping actions, and provides a systematic solution for the application scene of workpiece stacking recognition and grasping in the direction of effective toggle to improve the grasping efficiency Program.

Description

technical field [0001] The invention belongs to the technical field of robot grasping, and in particular relates to a method and system for workpiece grasping and toggle intervention. Background technique [0002] Robotic grasping technology based on 2D / 3D vision has been widely used in simple scenarios such as logistics express delivery, warehouse handling, and palletizing. Vision-guided robots enhance the perception of complex environments. In industrial capture scenarios, two-dimensional images can provide dense and rich texture information. After image processing and recognition, the position (two-dimensional coordinates) of the captured workpiece can be obtained, but depth information cannot be obtained. Three-dimensional images can provide distance information in the captured scene. The two types of data have good complementarity, and the fusion of the data of the two modalities can provide a more comprehensive perception of the workpiece grasping scene. In recent ye...

AI Technical Summary

Problems solved by technology

The common disadvantage of these types of methods is that they are all based on the processing strategy after object recognition

However, in scenes where there are mutual occlusions, there are relatively few objects that can be identified, so the above five types of toggle strategies are not suitable for scenes where small artifacts are stacked and occluded.

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