3 results about "Hand eye calibration" patented technology

The invention discloses a complex stacking scene robot disordered grabbing method based on three-dimensional vision, and the method comprises the steps: firstly obtaining an original point cloud through a depth camera, and obtaining a high-quality point cloud after statistics and radius filtering, moving least square smoothing, background plane removal and grid simplification; then, hand-eye calibration of participation eyes inside the camera outside the hand is completed, and alignment of vision and a robot coordinate system is achieved; single workpieces are separated through Euclidean clustering; in the key point extraction stage, geometric significance and super voxel density screening are integrated, weighted three-dimensional SIFT and multi-scale SHOT descriptors are adopted for feature expression, and rough registration and symmetric ICP fine registration are combined to obtain the six-degree-of-freedom pose of a workpiece; and based on the self-adaptive curvature and the force closing score, a grabbing posture is optimized, a collision-free path is planned by using an RRT algorithm, and grabbing is executed. The method does not need pre-modeling, can adapt to shielding, symmetry and density change scenes, is low in deployment cost, is simple to maintain, and is suitable for industrial disordered feeding and discharging and logistics sorting.

The invention discloses a multi-modal massage positioning method and system for human body acupuncture points, and mainly relates to the technical field of data multi-modal fusion. Comprising the steps of collecting multi-modal data of a user and constructing a virtual human body model; human body key points are identified based on the multi-modal data; mapping the three-dimensional key points in a depth camera coordinate system to an RGB image coordinate system through coordinate transformation; predicting positions of key acupuncture points of the human body by using a machine learning algorithm; the predicted acupuncture point coordinates are converted into a robot coordinate system through hand-eye calibration; recognizing a massage intention of the user based on a multi-modal intention understanding algorithm; and finally outputting the massage position information to the massage robot to execute massage operation. The intelligent massage robot has the beneficial effects that accurate positioning, multi-modal natural interaction and intelligent intention understanding of human body acupuncture points are realized, and the positioning accuracy and the use convenience of the massage robot are remarkably improved.

This invention discloses a robotic arm grasping control method, device, electronic equipment, and storage medium. The device is applied to a robot, which includes a lifting mechanism, a motor base, an adjustment mechanism, a gripping mechanism, and a positioning camera. The top end of the lifting mechanism is fixedly connected to the bottom end of the motor base, the top end of the motor base is fixedly connected to the bottom end of the adjustment mechanism, one end of the adjustment mechanism is fixedly connected to one end of the gripping mechanism, and one side of the motor base is fixedly connected to one side of the positioning camera. This invention's device employs visual 3D positioning and hand-eye calibration, resulting in small positioning errors and adaptability to various placement postures and irregularly shaped targets. It features a dual closed-loop force control mode, balancing grasping stability and object safety, and is adaptable to various materials and objects. Its modular design allows for independent use or integration into multi-machine collaborative systems, enabling rapid actuator replacement and broad scenario coverage. Full-process anomaly monitoring and fault-tolerant protection prevent collisions, slippage, and object damage, ensuring high operational reliability.