Robot grabbing method, system and device based on 3D vision and medium
A robot and 3D technology, applied in the field of intelligent robots, can solve the problems of unable to obtain grasping pose, unable to obtain robot pose, etc., to achieve the effect of controlling cost and improving the degree of automation
Active Publication Date: 2021-11-30
嘉兴市敏硕智能科技有限公司
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[0055] The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present invention, and should not be construed as a limitation of the present invention. The numbers of the steps in the following embodiments are only set for the convenience of description, and the sequence between the steps is not limited in any way, and the execution sequence of each step in the embodiments can be adapted according to the understanding of those skilled in the art Sexual adjustment.
[0056] In the description of the present invention, it should be understood that the azimuth description, such as the azimuth or position relationship indicated by up, down, ...
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The invention discloses a robot grabbing method, system and device based on 3D vision and a medium. The method comprises the steps that a point cloud of an assembled product comprising n parts is obtained; the point cloud of the assembled product is segmented according to a point cloud segmentation algorithm, and n sub point clouds are obtained; point cloud models of all the parts are acquired from a preset database in a matched mode according to the sub-point clouds; the point cloud models of the corresponding parts are acquired according to a preset part assembly sequence, and grabbing points of the parts are acquired; a conversion relation between the grabbing points of the parts and the grabbing points of a hand-eye calibration model is acquired; and the grabbing posture of a robot gripper is obtained according to the conversion relation, and a robot is controlled to grab the parts according to the grabbing posture. According to the method, the multiple parts are recognized and grabbed on the basis of the single robot, multiple objects can be assembled, the automation degree is improved, the cost is effectively controlled, and the method can be widely applied to the technical field of intelligent robots.
Description
technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a 3D vision-based robot grasping method, system, device and medium. Background technique [0002] In recent years, robots have been widely used in various fields, including medical treatment, industrial production, environmental monitoring, urban management, etc. In the face of different application environments, higher requirements are put forward for the robot's own adaptability to the environment and work efficiency. The combination of machine vision and machines will greatly improve the work efficiency of robots and grasp objects in various environments. . [0003] When a product consists of multiple parts, its assembly requires robots to grab different parts. At present, most robot assemblies are assembled through fixed-point positioning, and the parts assembled by a single robot are often assembled by a single part, and the flexibility of assembling objects is r...
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IPC IPC(8): B25J9/16B25J19/02
CPCB25J9/1697B25J9/1679B25J19/023
Inventor 王城王耿陈和平席宁
Owner 嘉兴市敏硕智能科技有限公司