Robot automatic grabbing system and method based on 3D vision
A robot and 3D technology, applied in manipulators, program-controlled manipulators, chucks, etc., can solve the problems of large amount of 3D point cloud data, low efficiency and low robustness, and achieve good grasping effect and high grasping efficiency. , Robust effect
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[0060] The technical solution of the present invention will be further described below in conjunction with the accompanying drawings.
[0061] Such as figure 1 Shown, a kind of robot automatic grasping method based on 3D vision of the present invention comprises the following steps:
[0062] The grabbing robot sends a request data instruction to the industrial computer, and the industrial computer receives the request data instruction of the grabbing robot, and the industrial computer judges whether there is a processing result in the cache, and returns the processing result to the grabbing robot if there is, and controls the 3D camera to take pictures if there is no;
[0063] The industrial computer controls the 3D camera to take pictures after receiving the camera command of the grabbing robot; the industrial computer receives the original 3D point cloud data returned by the 3D camera, based on the original 3D point cloud data, judges whether the target part is photographed,...
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