Robot grabbing control method and device, storage medium and robot

Abstract

The invention provides a robot grabbing control method and device, a storage medium and a robot. The method comprises the steps that image data of surface layer parts in multiple layers of stacked parts are obtained; according to the image data of the surface layer part, a part meeting the grabbing condition is selected as a to-be-grabbed part; pose information and depth information of the to-be-grabbed part under a robot coordinate system are obtained; and the robot is controlled to grab the to-be-grabbed part according to the pose information and the depth information of the to-be-grabbed part under the robot coordinate system. According to the method, the image data of the surface layer parts in the multi-layer stacked parts are obtained, the parts meeting the grabbing conditions are gradually extracted according to the image data to be grabbed, rapid grabbing work of the multi-layer stacked parts is achieved, the grabbing sequence of the multi-layer stacked parts is reasonably set, the collision behavior during sorting is effectively avoided, and the grabbing efficiency of the multi-layer stacked parts is improved. The method is higher in reliability and has very important significance.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a robot grasping control method, device, storage medium and robot. Background technique [0002] At present, with the widespread popularization of intelligent robots, more and more items can be grasped by intelligent robots. For example, robots are used in manufacturing to sort parts. However, most of the robot sorting at the exhibition is high-speed sorting on the same level, and there are few complex working conditions of multi-layer parts stacking. [0003] However, in actual factory applications, most of the parts are stacked in the material frame, and the picking of multi-level stacked parts involves complicated working conditions, and it is easy to happen between parts during the sorting process. Therefore, how to accurately identify and grasp multi-layer stacked parts has become an urgent problem to be solved. Contents of the invention [0004] In view of the a...

AI Technical Summary

Problems solved by technology

However, at present, the robot sorting in most exhibitions is high-speed sorting on the same level, and there are few complex working conditions where multiple layers of parts are stacked.

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