A loading and unloading and de-palletizing robot and method of gripping

Abstract

The application discloses a loading and unloading and de-stacking robot and a grabbing method, the grabbing method comprising the following steps: collecting stacking data by a 3D camera; segmenting a 2D image to obtain a segmentation result; fusing initial cloud data collected by a plurality of 3D cameras to obtain global point cloud data located in a same coordinate system; extracting the global point cloud data according to a mask, and denoising the extracted global point cloud data to obtain material point cloud data of each material; searching for a grabbing surface based on the material point cloud data, and calculating a grabbing pose of the grabbing surface; judging whether the material meets a multi-grabbing condition, merging the material point cloud data of the material meeting the multi-grabbing condition, and searching for the grabbing surface again based on the merged material point cloud data to update the grabbing pose of the grabbing surface; sorting the grabbing order of the material according to a grabbing strategy to obtain a grabbing order; and generating grabbing information of a mechanical hand grabbing a cargo box according to the grabbing order, the grabbing surface and the grabbing pose.

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