Dynamic target capture method, device and storage medium

Abstract

The present invention discloses a dynamic target grasping method, device, and storage medium, which are applied to grasping equipment and relate to the field of object grasping technology. The method includes: obtaining a to-be-processed image corresponding to the dynamic target; performing data analysis and processing on the to-be-processed image to obtain grasping point coordinate data corresponding to the to-be-grabbed point; inputting the grasping point coordinate data, encoder data, and the position offset corresponding to the dynamic target into an intersection point algorithm model to obtain target coordinate data corresponding to the target intersection point; and when the target coordinate data falls within a preset grasping area, grasping the dynamic target according to the target intersection point corresponding to the target coordinate data. This dynamic target grasping method improves the grasping equipment's positioning accuracy and reliability for the dynamic target, thereby improving the robot's accuracy in grasping dynamic targets.

Description

Technical Field

[0001] The present invention relates to the technical field of object grasping, and in particular to a dynamic target grasping method, device and storage medium. Background Art

[0002] Dynamic grasping refers to the process in which a grasping device, such as a robot, grasps an object without stopping the conveyor belt. The object's position changes in real time as it moves along the conveyor belt, enabling the robot to grasp it. The object continues to move along the conveyor belt, its position constantly changing. The robot accelerates to the point of grasping, and the object on the conveyor belt and the robot's end-of-line gripper converge at a certain point. This convergence point is known as the intersection point.

[0003] At present, dynamic grasping of objects by grasping equipment is widely used in actual production scenarios, and the determination of intersection points is an important part of dynamic grasping. However, in related technologies, the intersection points obtained by calculating the intersection points through encoder position feedback have low accuracy, which is not conducive to the precise grasping of dynamic objects by grasping equipment. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a dynamic target grabbing method, device and storage medium, which improve the accuracy of the grabbing device in grabbing dynamic targets.

[0005] According to a first embodiment of the present invention, a dynamic target capture method includes:

[0006] Obtain the image to be processed corresponding to the dynamic target;

[0007] Performing data analysis on the image to be processed to obtain coordinate data of a grasping point corresponding to a point to be grasped, wherein the dynamic target is provided with the point to be grasped;

[0008] Inputting the grasping point coordinate data, encoder data, and the position offset corresponding to the dynamic target into an intersection point algorithm model to obtain target coordinate data corresponding to a target intersection point, wherein the target intersection point is the confluence position of the dynamic target and the grasping device;

[0009] When the target coordinate data falls into a preset grabbing area, the dynamic target is grabbed according to the target intersection point corresponding to the target coordinate data.

[0010] One or more technical solutions provided in the embodiments of the present invention have at least the following beneficial effects: The present invention uses an intersection point algorithm model to obtain target coordinate data corresponding to a target intersection point. When the target coordinate data falls within a preset grasping area, the grasping device grasps the dynamic target based on the target intersection point corresponding to the target coordinate data. This dynamic target grasping method improves the grasping device's positioning accuracy and reliability for dynamic targets, thereby increasing the robot's accuracy in grasping dynamic targets.

[0011] According to some embodiments of the present invention, the data analysis processing includes image processing and hand-eye calibration processing, and performing data analysis processing on the image to be processed to obtain the coordinate data of the grasping point corresponding to the grasping point to be grasped includes:

[0012] Performing the image processing on the image to be processed to obtain camera coordinate data of the point to be captured in a camera coordinate system;

[0013] The hand-eye calibration process is performed on the camera coordinate data to obtain the grasping point coordinate data of the to-be-grasped point in the machine coordinate system.

[0014] According to some embodiments of the present invention, the encoder data is obtained by the following steps:

[0015] Get the encoder period value, encoder initial value, encoder meter wheel circumference and encoder resolution;

[0016] The encoder data is obtained by calculation according to the encoder period value, the encoder initial value, the circumference of the encoder meter wheel and the encoder resolution.

[0017] According to some embodiments of the present invention, the encoder data is calculated as follows:

[0018] E1=(EE′)×D / H

[0019] Wherein, E1 represents the encoder data, E represents the encoder period value, E′ represents the encoder initial value, D represents the circumference of the encoder meter wheel, and H represents the encoder resolution.

[0020] According to some embodiments of the present invention, the position offset is obtained by the following steps:

[0021] Acquire speed data and total duration data corresponding to the dynamic target, wherein the total duration data represents the total duration of the movement from the grasping device to the target intersection;

[0022] The position offset is calculated based on the speed data and the total duration data.

[0023] According to some embodiments of the present invention, the position offset is calculated as follows:

[0024] s=T′ robot ×V

[0025] Wherein, V represents the speed data, T′ robot Indicates the total duration data.

[0026] According to some embodiments of the present invention, when the target coordinate data falls into a preset capture area, capturing the dynamic target according to a target intersection point corresponding to the target coordinate data includes:

[0027] Polling and updating the target coordinate data according to a preset time period to obtain updated target coordinate data;

[0028] When the updated target coordinate data falls into the preset grabbing area, the dynamic target is grabbed according to the target intersection point corresponding to the updated target coordinate data.

[0029] According to some embodiments of the present invention, when the updated target coordinate data falls into the preset capture area, capturing the dynamic target according to the target intersection point corresponding to the updated target coordinate data includes:

[0030] When at least two of the updated target coordinate data fall into the preset grabbing area, extracting a target coordinate data to be grabbed from the at least two updated target coordinate data, wherein the target coordinate data includes the target coordinate data to be grabbed;

[0031] The dynamic target is captured according to the target intersection point corresponding to the coordinate data of the target to be captured.

[0032] According to the second aspect of the present invention, a dynamic target capture device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the dynamic target capture method as described in the first aspect above is implemented.

[0033] According to a computer-readable storage medium of an embodiment of the third aspect of the present invention, the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the dynamic target grabbing method as described in the first aspect above.

[0034] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation to the technical solution of the invention.

[0036] Figure 1 Schematic diagram of the process of the dynamic target capture method provided by the embodiment of the present invention;

[0037] Figure 2 1 is a flow chart of data analysis and processing provided by an embodiment of the present invention;

[0038] Figure 3 is a schematic diagram of a flow chart of encoder data provided by an embodiment of the present invention;

[0039] Figure 4 This is a schematic diagram of a flow chart of position offset provided by an embodiment of the present invention;

[0040] Figure 5 This is a schematic diagram of a process for capturing a dynamic target provided by an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of a specific process for capturing a dynamic target provided by an embodiment of the present invention;

[0042] Figure 7 is a schematic diagram of the relationship between the grabbing device and the target intersection point provided by an embodiment of the present invention;

[0043] Figure 8 Schematic diagram of a camera-plus-encoder assisted visual sorting system according to an embodiment of the present invention.

[0044] Reference numerals:

[0045] Target intersection point 100, directly above the target intersection point 110, grabbing equipment waiting point 120;

[0046] Identification point 200, grab boundary point 300, angle encoder 400;

[0047] Grabbing device 500 , preset grabbing area 510 , conveyor belt 520 , camera 530 . DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0049] It should be noted that although the device schematics illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the device or the sequence in the flowcharts. The terms "first," "second," and so on, in the specification, claims, and drawings, are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0050] Dynamic grasping refers to the process in which a grasping device, such as a robot, grasps an object without stopping the conveyor belt. The object's position changes in real time as it moves along the conveyor belt, enabling the robot to grasp it. The object continues to move along the conveyor belt, its position constantly changing. The robot accelerates to the point of grasping, and the object on the conveyor belt and the robot's end-of-line gripper converge at a certain point. This convergence point is known as the intersection point.

[0051] At present, dynamic grasping of objects by grasping equipment is widely used in actual production scenarios, and the determination of intersection points is an important part of dynamic grasping. However, in related technologies, the intersection points obtained by calculating the intersection points through encoder position feedback have low accuracy, which is not conducive to the precise grasping of dynamic objects by grasping equipment.

[0052] Based on this, embodiments of the present invention provide a dynamic target capture method, device, and storage medium, which improve the accuracy of the capture device in capturing dynamic targets.

[0053] The embodiments of the present invention are further described below with reference to the accompanying drawings.

[0054] The first embodiment of the present invention specifically provides a dynamic target grabbing method, which is applied to a grabbing device 500, such as Figure 1 As shown, Figure 1 A flow chart of a dynamic target capture method provided by an embodiment of the present invention. The dynamic target capture method of the embodiment of the present invention includes but is not limited to the following steps:

[0055] Step S100, obtaining an image to be processed corresponding to a dynamic target;

[0056] Step S200, performing data analysis on the image to be processed to obtain coordinate data of the grasping point corresponding to the grasping point, wherein the dynamic target is provided with the grasping point;

[0057] Step S300: Input the grasping point coordinate data, encoder data, and the position offset corresponding to the dynamic target into the intersection point algorithm model to obtain the target coordinate data corresponding to the target intersection point 100, where the target intersection point 100 is the meeting point of the dynamic target and the grasping device 500;

[0058] In step S400 , when the target coordinate data falls into the preset capture area 510 , the dynamic target is captured according to the target intersection point 100 corresponding to the target coordinate data.

[0059] The present invention uses an intersection point algorithm model to obtain target coordinate data corresponding to the target intersection point 100. When the target coordinate data falls within a preset grasping area 510, the grasping device 500 grasps the dynamic target based on the target intersection point 100 corresponding to the target coordinate data. This dynamic target grasping method improves the positioning accuracy and reliability of the grasping device 500 for dynamic targets, thereby improving the accuracy of the robot's grasping of dynamic targets.

[0060] In this embodiment, the dynamic target is an object moving on the conveyor belt 520, the grasping device 500 can be a robot, and the preset grasping area 510 refers to the working space of the robot; the dynamic target can also be an object moving by other means, and the grasping device 500 can also be other devices. The preset grasping area 510 is the working space of the device, which is not limited to this embodiment and will not be repeated here.

[0061] It should be noted that, referring to Figure 7 The grasping plan of the grasping device 500 for grasping the dynamic target according to the target intersection point 100 corresponding to the target coordinate data is as follows: the grasping plan obtains the motion trajectory, and the grasping device 500 moves to 110 directly above the target intersection point through the target coordinate data corresponding to the target intersection point 100 calculated according to the intersection point algorithm model. When the target coordinate data falls into the preset grasping area 510, the grasping device 500 grasps the dynamic target according to the target intersection point 100 corresponding to the target coordinate data.

[0062] It is understandable that, referring to Figure 2 Step S200 includes but is not limited to the following steps:

[0063] Step S210, performing image processing on the image to be processed to obtain camera coordinate data of the point to be captured in the camera coordinate system;

[0064] Step S220 , performing hand-eye calibration processing on the camera coordinate data to obtain the coordinate data of the grasping point in the machine coordinate system.

[0065] In this embodiment, the camera coordinate data is Gc = (x, y), the grab point coordinate data in the machine coordinate system is Gr = (x', y'), and the hand-eye calibration conversion matrix is The camera coordinate data Gc=(x, y) in the camera coordinate system is converted into the grabbing point coordinate data Gr=(x′, y′) in the machine coordinate system. The grabbing point coordinate data Gr=(x′, y′), the encoder data and the position offset corresponding to the dynamic target are input into the intersection algorithm model to obtain the target coordinate data Gr′=(X′, y′) corresponding to the target intersection point 100. In this embodiment, the running direction of the conveyor belt 520 is set to be parallel to the X direction of the machine coordinate system.

[0066] It is understandable that, referring to Figure 3 ,The method for obtaining encoder data includes but is not limited to the following steps:

[0067] Step S310, obtaining the encoder period value, encoder initial value, encoder meter wheel circumference and encoder resolution;

[0068] Step S311 , calculating encoder data according to the encoder period value, the encoder initial value, the encoder meter wheel circumference and the encoder resolution.

[0069] In this embodiment, according to the characteristics of the encoder, a first timer is used to set the timing period to 5ms. After the first timer is started, a signal is continuously sent every 5ms to poll and update the encoder period value, the circumference of the encoder meter wheel, the encoder resolution and the encoder sampling frequency; refer to Figure 7 After the process is started, the camera 530 takes a picture of the identification point 200 and obtains the initial value of the encoder.

[0070] It should be noted that the identification point 200 is the initial position of the dynamic target during movement.

[0071] This embodiment implements a dynamic target grabbing method based on a monocular 2D camera and an encoder. The use of a monocular 2D camera reduces the cost of the grabbing device 500 for grabbing dynamic targets. Other cameras 530 may also be used and are not limited to this embodiment.

[0072] It should be noted that the encoder in this embodiment is an angle encoder 400. In other embodiments, it may be other types of encoders. The first timer may also set the timing time to other values, which is not limited to this embodiment.

[0073] It can be understood that the encoder data is calculated as follows:

[0074] E1=(EE′)×D / H

[0075] Where E1 represents the encoder data, E represents the encoder period value, E′ represents the encoder initial value, D represents the circumference of the encoder meter wheel, and H represents the encoder resolution.

[0076] It is understandable that, referring to Figure 4 The method for obtaining the position offset includes but is not limited to the following steps:

[0077] Step S320, obtaining speed data and total duration data corresponding to the dynamic target, wherein the total duration data represents the total duration of the movement from the grasping device 500 to the target intersection 100;

[0078] Step S330: Calculate the position offset based on the speed data and the total duration data.

[0079] It should be noted that the speed data is calculated based on the encoder period value obtained through polling update, the circumference of the encoder meter wheel, the encoder resolution, and the encoder sampling frequency. The speed data calculation formula is as follows:

[0080] V=E×1000×D×H×S

[0081] Where V represents the speed data, E represents the encoder period value, D represents the circumference of the encoder meter wheel, H represents the encoder resolution, and S represents the encoder sampling frequency.

[0082] The calculation formula for total duration data is as follows:

[0083] T′ robot =T1+t2

[0084] Among them, T′ robot Represents the total duration data, T1 represents the time taken for the grasping device 500 to move to the preset path threshold of the grasping device 500, and t2 represents the time taken for the grasping device 500 to approach the target intersection 100 from 110 directly above the target intersection.

[0085] It should be noted that, referring to Figure 7 The total duration of the ideal movement from the grabbing device 500 to the target intersection 100 is: T robot =t1+t2, where t1 is the time taken by the grasping device 500 to move from the starting point to the target intersection point 110 above. The dynamic target is transferred from the grasping boundary point 300 to the target intersection point 100 after t3. To ensure that the grasping device 500 accurately grasps the dynamic target, T robot =t3; wherein, T1≥t1, t3 represents the grabbing transmission time. Figure 7In the figure, {c} represents the camera coordinate system, {r} represents the machine coordinate system, and the middle of the two straight lines represents the surface of the conveyor belt 520. The dynamic target identified in the figure moves from left to right on the conveyor belt 520. In addition, the position and speed of the dynamic target are obtained through the angle encoder 400.

[0086] In this embodiment, as long as the vertical distance between the gripping device 500 and the conveyor belt 520 from directly above the target intersection 110 remains constant, t2 is a constant value. Since the position of the target intersection 100 is uncertain, t1 is a variable related to the position of the target intersection 100. A fixed time T1 is selected based on the parameters of the gripping device 500, such as the operating speed of the gripping device 500 and the travel range of the gripping device 500. The time taken for the gripping device 500 to move to the preset path threshold of the gripping device 500 is selected according to the following principle:

[0087] The grasping device 500 is set to move at a predetermined linear velocity, such as 1000 mm / s, within the preset grasping area 510. The time taken for the grasping device 500 to reach the preset path threshold of the grasping device 500, such as 0.4 s, is measured, and T1 is specified as ≥ 0.4. Alternatively, the grasping device 500 is guaranteed to reach any position of the target intersection 100 within the preset grasping area 510 within the time T1. When the grasping device 500 moves to directly above the target intersection 110, a delay is required before grasping the dynamic target. The delay time is calculated as follows: t4 = (T1 - t1), where t4 represents the delay time and the preset path threshold is the horizontal distance between directly above the identification point 200 and the grasping device waiting point 120.

[0088] Therefore, the calculation formula for the total duration data is: T′ robot =T1+t2.

[0089] In this embodiment, when the grasping device 500 grasps a dynamic target, it is necessary to first set the relevant trajectory parameters: the limit speed value, the limit acceleration value, and the limit jerk value. Afterwards, the grasping device 500 grasps the dynamic target using the trajectory planning method of S-type motion curve planning based on the relevant trajectory parameters; the time taken by the grasping device 500 to approach the target intersection point 100 from 110 directly above the target intersection point is calculated through the standard S-curve planning in the S-type motion curve planning.

[0090] It can be understood that the calculation formula for the position offset is as follows:

[0091] s=T′ robot ×V

[0092] Among them, V represents speed data, T′ robot Indicates total duration data.

[0093] It should be noted that the calculation formula of the intersection algorithm model is as follows:

[0094] X′=x′+(EE′)×D / H+T′ robot ×V

[0095] Where X' represents the x-coordinate of the target coordinate data, x' represents the x-coordinate of the grasping point coordinate data, E represents the encoder cycle value, E' represents the encoder initial value, D represents the circumference of the encoder meter wheel, H represents the encoder resolution, and T' robot Indicates total duration data, and V indicates speed data.

[0096] It should be noted that since the time it takes for the grabbing device 500 to reach the target intersection 100 is T′ robot Therefore, a position value compensation needs to be made to the coordinate data of the grasping point corresponding to the grasping point, that is, a position offset is added to the target intersection point 100 in the X direction.

[0097] It is understandable that, referring to Figure 5 Step S400 includes but is not limited to the following steps:

[0098] Step S410: polling and updating the target coordinate data according to a preset time period to obtain updated target coordinate data;

[0099] In step S420 , when the updated target coordinate data falls into the preset capture area 510 , the dynamic target is captured according to the target intersection point 100 corresponding to the updated target coordinate data.

[0100] In this embodiment, during the continuous operation of the conveyor belt 520, a second timer is used to set the timing time to 100ms. After the second timer is started, a signal is continuously sent every 100ms to calculate the target coordinate data of the target intersection point 100 in real time. Since the movement direction of the conveyor belt 520 is parallel to the grasping device 500 in the X direction, the y coordinate of the grasping point coordinate data remains unchanged during the operation of the dynamic target, and the x coordinate of the target coordinate data is updated through polling by the second timer. Therefore, the target coordinate data Gr′ corresponding to the target intersection point 100 is (X′, y′).

[0101] It should be noted that the timing time setting of the second timer can also be set to other values ​​and is not limited to this embodiment.

[0102] It is understandable that, referring to Figure 6 Step S420 includes but is not limited to the following steps:

[0103] Step S421: when at least two updated target coordinate data fall into the preset capture area 510, extracting a target coordinate data to be captured from the at least two updated target coordinate data, wherein the target coordinate data includes the target coordinate data to be captured;

[0104] Step S422 , capturing the dynamic target according to the target intersection point 100 corresponding to the coordinate data of the target to be captured.

[0105] In addition, the second embodiment of the present invention further provides a dynamic target capture method, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor.

[0106] The processor and the memory may be connected via a bus or other means.

[0107] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0108] The non-transient software program and instructions required to implement the dynamic target capture method of the first embodiment are stored in the memory. When executed by the processor, the dynamic target capture method of the embodiment is executed, for example, the above-described Figure 1 Method steps S100 to S400, Figure 2 Steps S210 to S220 of the method, Figure 3 Steps S310 to S311 of the method, Figure 4 Method steps S320 to S330, Figure 5 Steps S410 to S420 of the method, Figure 6 Method steps S421 to S422 in .

[0109] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0110] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which stores computer-executable instructions. The computer-executable instructions are executed by a processor or controller, for example, by a processor in the above-mentioned device embodiment, so that the above-mentioned processor can execute the dynamic target capture method in the above-mentioned embodiment, for example, execute the above-mentioned Figure 1 Method steps S100 to S400, Figure 2 Steps S210 to S220 of the method, Figure 3 Steps S310 to S311 of the method, Figure 4 Method steps S320 to S330, Figure 5 Steps S410 to S420 of the method, Figure 6 Method steps S421 to S422 in .

[0111] Those skilled in the art will appreciate that all or some of the steps and systems in the method disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. Some physical components or all physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or implemented as hardware, or implemented as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, and the computer-readable medium can include computer storage media (or non-transitory media) and communication media (or temporary media). As known to those skilled in the art, the term computer storage media is included in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data) and is volatile and non-volatile, removable, and non-removable. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory, or other memory technology, CD-ROM, digital versatile disks (DVD), or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage, or other magnetic storage devices, or any other medium that can be used to store desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0112] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above implementation. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A dynamic target grabbing method, applied to a grabbing device, characterized in that: include: Obtain the image to be processed corresponding to the dynamic target; Performing data analysis on the image to be processed to obtain coordinate data of a grasping point corresponding to a point to be grasped, wherein the dynamic target is provided with the point to be grasped; Inputting the grasping point coordinate data, encoder data, and the position offset corresponding to the dynamic target into an intersection point algorithm model to obtain target coordinate data corresponding to a target intersection point, wherein the target intersection point is the meeting point of the dynamic target and the grasping device; the intersection point algorithm model indicates that the x-coordinate of the target coordinate data is the sum of the x-coordinate of the grasping point coordinate data, the encoder data, and the position offset; When the target coordinate data falls into a preset grabbing area, the dynamic target is grabbed according to the target intersection point corresponding to the target coordinate data; The encoder data is obtained by the following steps: Get the encoder period value, encoder initial value, encoder meter wheel circumference and encoder resolution; The encoder data is obtained by calculation according to the encoder period value, the encoder initial value, the circumference of the encoder meter wheel and the encoder resolution.

2. The dynamic target capture method according to claim 1, characterized in that: The data analysis and processing includes image processing and hand-eye calibration processing, and the data analysis and processing is performed on the image to be processed to obtain the coordinate data of the grasping point corresponding to the grasping point to be grasped, including: Performing the image processing on the image to be processed to obtain camera coordinate data of the point to be captured in a camera coordinate system; The hand-eye calibration process is performed on the camera coordinate data to obtain the grasping point coordinate data of the to-be-grasped point in the machine coordinate system.

3. The dynamic target capture method according to claim 2, characterized in that: The calculation formula of the encoder data is as follows: E1=(EE′)×D / H Wherein, E1 represents the encoder data, E represents the encoder period value, E′ represents the encoder initial value, D represents the circumference of the encoder meter wheel, and H represents the encoder resolution.

4. The dynamic target capture method according to claim 1, characterized in that: The position offset is obtained by the following steps: Acquire speed data and total duration data corresponding to the dynamic target, wherein the total duration data represents the total duration of the movement from the grasping device to the target intersection; The position offset is calculated based on the speed data and the total duration data.

5. The dynamic target capture method according to claim 4, characterized in that: The calculation formula of the position offset is as follows: s=T′ robot ×V Wherein, V represents the speed data, T′ robot Indicates the total duration data.

6. The dynamic target capture method according to claim 1, characterized in that: When the target coordinate data falls into a preset capture area, the dynamic target is captured according to a target intersection point corresponding to the target coordinate data, including: Polling and updating the target coordinate data according to a preset time period to obtain updated target coordinate data; When the updated target coordinate data falls into the preset grabbing area, the dynamic target is grabbed according to the target intersection point corresponding to the updated target coordinate data.

7. The dynamic target capture method according to claim 6, characterized in that: When the updated target coordinate data falls into the preset capture area, capturing the dynamic target according to the target intersection point corresponding to the updated target coordinate data includes: When at least two of the updated target coordinate data fall into the preset grabbing area, extracting a target coordinate data to be grabbed from the at least two updated target coordinate data, wherein the target coordinate data includes the target coordinate data to be grabbed; The dynamic target is captured according to the target intersection point corresponding to the coordinate data of the target to be captured.

8. A dynamic target grabbing device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the dynamic target capture method according to any one of claims 1 to 7 when executing the computer program.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the dynamic target capture method according to any one of claims 1 to 7.

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