Robot visual sorting method, device, electronic equipment and storage medium
A technology of robot vision and principal components, which is applied in the directions of instruments, image analysis, computer components, etc., can solve problems such as difficult to achieve grasping tasks
Active Publication Date: 2021-12-07
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology
[0005] The invention provides a robot visual sorting method, device, electronic equipment and storage medium to solve the defect in the prior art that it is difficult to realize the grasping task in a complex scene
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[0048] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention , but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0049] figure 1 A schematic flow chart of the robot visual sorting method provided by the embodiment of the present invention, such as figure 1 As shown, the method includes:
[0050] Step 110, based on a deep learning instance segmentation model, perform instance segmentation and principal component analysis on the two-dimensional scene image of the scene to be sorted at the same time, and...
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The present invention provides a robot visual sorting method, device, electronic equipment and storage medium, wherein the method includes: based on a deep learning instance segmentation model, performing instance segmentation and principal component analysis on the two-dimensional scene image of the scene to be sorted at the same time, Obtain the coordinates of the two-dimensional grasping point, the rotation angle of the gripper, and the opening distance of the two-dimensional gripper of each target in the two-dimensional scene image; based on the depth of each target registered with the two-dimensional scene image Depth information in the scene image, as well as the coordinates of the two-dimensional grasping point and the opening distance of the two-dimensional gripper of each target, determine the coordinates of the three-dimensional grasping point and the opening distance of the three-dimensional gripper of each target; based on The coordinates of the three-dimensional grasping point, the rotation angle of the gripper, and the opening distance of the three-dimensional gripper of each target are used to perform a grasping operation on each target. The present invention can realize object sorting in complex scenes such as disorganized and disorderly placement of multi-variety objects, and even stacked placement.
Description
technical field [0001] The invention relates to the technical field of robot control, in particular to a robot visual sorting method, device, electronic equipment and storage medium. Background technique [0002] At present, with the transformation of domestic manufacturing and other related industries to intelligent manufacturing, the application of intelligent products such as robots in the processing, manufacturing and service industries is growing rapidly, especially for the application of intelligent products in the manufacturing industry. [0003] In actual industrial production, for operations similar to grabbing and sorting, the traditional method is to manually sort workpieces or products of different types or sizes in front of the operating table, which will cost a lot of time. labor and costs. Not only that, but manual work is also difficult to meet the efficiency required for mass sorting, and the accuracy of sorting is also difficult to control. Therefore, the...
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IPC IPC(8): G06K9/00G06K9/34G06T7/70G06N3/04
CPCG06T7/70G06N3/045
Inventor 胡建华王云宽邓杰仁张好剑王欣波郑军韩健伟张兴轩
Owner INST OF AUTOMATION CHINESE ACAD OF SCI