Mechanical arm autonomous moving grabbing method based on visual-tactile fusion under complex illumination condition

Abstract

The invention discloses a mechanical arm autonomous moving grabbing method based on visual-tactile fusion under a complex illumination condition. The method mainly comprises approaching control over a target position and feedback control over environment information. According to the method, under the complex illumination condition, weighted fusion is conducted on visible light and depth images of a pre-selected area, recognition and localization of a target object are completed based on a deep neural network, and a mobile mechanical arm is driven to continuously approach the target object; in addition, the pose of the mechanical arm is adjusted according to contact force information of a sensor module, the external environment and the target object; and meanwhile, visual information and tactile information of the target object are fused, and the optimal grabbing pose and the appropriate grabbing force of the target object are selected. By means of the method, the object localization precision and the grabbing accuracy are improved, collision damage and instability of the mechanical arm are effectively prevented, and harmful deformation of the grabbed object is reduced.

Description

technical field [0001] The invention belongs to the technical field of robot control, and in particular relates to a method for autonomously moving and grabbing a mechanical arm based on visual-touch fusion under complex lighting conditions. Background technique [0002] In recent years, with the rapid development of sensor technology, navigation technology and deep learning technology, robot technology has also made great progress. Among them, mobile robotic arm technology has gradually been widely used in automatic inspection, agricultural picking, storage sorting and other fields. The mobile robotic arm has autonomous navigation and autonomous operation capabilities. Compared with traditional industrial robotic arms, it has higher flexibility and mobility, and can replace humans in complex environments to complete certain tasks autonomously. [0003] In related technologies, the difficulty often lies in the identification and positioning of target objects; in recent years...

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Problems solved by technology

[0005] In order to solve the above problems, the present invention discloses a method for autonomously moving and grabbing a robotic arm based on visual-touch fusion under complex lighting conditions, which solves the problem that the existing technology cannot obtain the precise three-dimensional space position of the target object, thereby realizing precise operation; at the same time The introduction of multi-sensor modules improves the perception and friendly operation of the robot arm to the external environment

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