5 results about "Robot workspace" patented technology

The application belongs to the field of path planning, and particularly relates to a robot formation planning method based on a five-dimensional configuration space. The method comprises the following steps: workspace and configuration space definition: the workspace is a two-dimensional plane for robot movement, and the configuration space is a five-dimensional space containing formation centroid, direction and scaling factor; sampling method: random sampling in the configuration space, and ensuring that the sampling points do not cause collision between robots; distance function: defining the distance between two points in the configuration space, and eliminating the dependence on the number of robots; search: searching in the configuration space using an algorithm, and constructing a collision-free path tree; path generation: converting the path in the configuration space into the path in the robot workspace, and smoothing using a spline curve. The robot formation can pass through a narrow channel, and split and merge when encountering a large obstacle. The application provides a high-efficiency, flexible and collision-free global path planning method for a multi-robot system.

The present application relates to a kind of flexible cloth manipulation methods based on key point detection, comprising the following steps: step 1, construct dual-arm robot workspace, the workspace includes top depth camera, the cloth state and surrounding environment in the manipulation area are captured by the real-time capture of visual data by the depth camera;Step 2, define multiple action primitives;Step 3, decode multiple action primitives using VIT-Transformer, generate operation strategy, output the action that needs to be executed;Step 4, key point detection and identification are carried out to cloth by Swin-Transformer, select operation strategy, generate action instruction;Step 5, action instruction is sent to dual-arm robot, and action instruction is executed by dual-arm robot.Compared with prior art, the present application can improve operation efficiency, improve adaptability, improve accuracy, reduce implementation cost and the advantages such as wide application.

The invention relates to an automatic wood sorting facility comprising a cross conveyor (3) with a conveying plane (Z0) on which sawn pieces of wood (2) are advanced, an inspection zone (5) comprising a camera (70), a camera-carrying arrangement (6) by which the camera (70) is arranged in such a manner that the pieces of wood (2) advanced on the cross conveyor (3) can be inspected by means of the camera, a robot gripper zone (8) comprising a robot (RB1) equipped with a robot gripper tool (11) by which a piece of wood (2) can be gripped and handled, a robot-carrying arrangement (9) by which the robot (RB1) is arranged in such a manner that said conveying plane (Z0) extends below the working area of the robot (RB1) with the robot gripper tool (11), a robot control unit (40) to which the camera (70) is connected, and which robot control unit further comprises a vision system (30) by which the piece of wood (2) can be identified, an image processing unit (50) and a robot control (60) configured to form a tracking system with a defined tracking area (TR1) of the length of the conveying plane (Z0), wherein the robot (RB1) is configured, with instruction from the vision system (30), to grip and handle an identified piece of wood (2) within the tracking area (TR1).