Object grabbing pose calculation method based on 3D point cloud data
A technology of point cloud data and calculation method, which is applied in the direction of calculation, image data processing, computer parts, etc., can solve the problems of low capture success rate, complex calculation method, and inability to correctly judge the placement status, so as to improve the capture Efficiency, efficient and accurate grasping effect
Pending Publication Date: 2022-02-01
QUANZHOU INST OF EQUIP MFG
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Most of the current object recognition methods use cameras to acquire images for processing, which requires a database to be established in advance and the calculation method is complex, especially for the placement of parts and other objects that cannot be correctly judged, resulting in a low capture success rate and seriously affecting the equipment. Operating efficiency
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[0033] Such as figure 1 The present invention discloses a kind of object grasping pose calculation method based on 3D point cloud data, it comprises the following steps:
[0034] Step 1, object point cloud data extraction;
[0035] The object is placed on the surface of the assembly line, and the measured object and the assembly line are scanned by the line laser displacement sensor to obtain the point cloud data of the object and the conveyor belt plane, and then the point cloud data of the object is extracted based on the height information. Because the object is higher than the plane of the conveyor belt, the point cloud data of the object can be directly extracted according to the height information.
[0036] figure 2 In the point cloud data extraction diagram shown, the object is a terminal block.
[0037] Step 2. Filter the point cloud noise based on the number of neighborhood points;
[0038] The point cloud noise filtering method based on the number of neighborhoo...
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The invention relates to an object grabbing pose calculation method based on 3D point cloud data. The method comprises the following steps: firstly, obtaining point cloud data of an object; performing noise filtering on the point cloud data based on the number of neighborhood points; carrying out segmentation clustering processing on the point cloud data based on an Euclidean distance threshold value to determine object quantity information; and finally, judging whether the state of each group of objects meets the grabbing requirement or not based on the minimum enclosing rectangle; and calculating the grabbing poses of the objects meeting the requirements. It can be seen that before the grabbing posture is calculated, the object state is judged firstly, only the objects meeting the grabbing requirement can be subjected to grabbing posture calculation, in this way, the grabbing efficiency of the mechanical arm can be improved, and efficient and accurate grabbing of the objects is achieved.
Description
technical field [0001] The present invention relates to the technical field of object grasping, in particular to a method for calculating object grasping poses based on 3D point cloud data. Background technique [0002] The recognition efficiency and grasping success rate of objects are the key to determine whether the development of related automation products is successful. Most of the current object recognition methods use cameras to acquire images for processing, which requires a database to be established in advance and the calculation method is complex, especially for the placement of parts and other objects that cannot be correctly judged, resulting in a low capture success rate and seriously affecting the equipment. operating efficiency. In recent years, line laser sensors have become more and more popular, and point cloud data processing algorithms have also been continuously enriched. Compared with two-dimensional images, its advantages lie in high precision, dept...
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Login to View More IPC IPC(8): G06T7/73G06V10/26G06V10/30G06V10/762G06K9/62G01B11/02
CPCG06T7/73G01B11/02G06F18/23
Inventor 曾辉雄李俊
Owner QUANZHOU INST OF EQUIP MFG