Bottle-shaped object positioning and grabbing method in mobile composite robot application

Abstract

The invention discloses a bottle-shaped object positioning and grabbing method in mobile coincidence robot application, the method is applied to the field of medical and chemical analysis, in order to to solve the problems that an existing visual servo method is large in calculation amount, and mechanical arm grabbing errors are caused by AGV positioning accuracy, laser SLAM and a visual servo control method based on images are combined, high-precision grabbing work of the movable mechanical arm is achieved, and the problem that AGV positioning is insufficient is solved; the visual servo control method based on the image is optimized in a specific application scene, direct calculation of a large number of Jacobian matrixes is avoided, the calculation process is simplified, and the problem of image processing efficiency is solved. The requirements of high precision and high efficiency of the system are met.

Description

technical field [0001] The invention belongs to the field of medical and chemical automation, and in particular relates to a technology for intelligently grasping reagent bottles using a robot. Background technique [0002] In the chemical and medical fields, if the traditional fixed-base robotic arm is used to realize automatic reagent bottle injection and sampling, it can only meet the reagent analysis needs of a single station. With the continuous development of the field of reagent analysis, a single fixed robotic arm can no longer meet people's needs for low-cost multi-station flexible analysis. Therefore, the mobile composite robot combining the mechanical arm and the AGV has more and more important application value in the chemical and medical field. [0003] For mobile composite robot applications, visual positioning and grasping are the most important and widely used functions, and the accuracy of visual positioning and the speed of servo response are key performan...

AI Technical Summary

Problems solved by technology

However, this method has the following problems: (1) Markers are used, and the indirect positioning of the grasping objects through the markers can reduce the amount of calculation, but the position of the workpiece and the markers needs to be fixed. Once there is a deviation in the placement, it is easy to Caused late capture failure; (2) In the process of image processing, complex calibration must be completed. The application scene is in a two-dimensional plane. The patent determines the new capture pose by calculating the Jacobian matrix, which is cumbersome to calculate , reducing the real-time performance of the mobile manipulator

However, the invention has the following problems: a series of coordinate measurements still need to be carried out first, and the measurement accuracy affects the actual operation accuracy

In addition, the coordinate position accuracy of the manipulator is also very dependent on the navigation and positioning accuracy of the AGV. When the navigation accuracy is lower than the accuracy requirements of the manipulator arm, this method cannot complete the grasping task.

[0006] Therefore, there is a need for a method that is applied in the medical and chemical fields, is aimed at bottle-shaped objects, and can simultaneously solve the lack of AGV navigation accuracy and low image processing efficiency of the mobile manipulator, thereby improving the positioning accuracy and system efficiency of the mobile manipulator.

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