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Intelligent sorting method of modular mechanical arm

A robotic arm, modular technology, applied in reasoning methods, image analysis, details involving 3D image data, etc., can solve the problems of reducing the intelligence level of the system, unable to recognize the size, shape, three-dimensional coordinates, etc., to achieve the effect of automatic programming

Active Publication Date: 2016-09-07
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

[0005] However, the above-mentioned patent only involves object color recognition, and cannot recognize the size, shape, and three-dimensional coordinates of the object; at the same time, the above-mentioned patent uses the learning module to perform guided learning in advance, and then repeats the learning action, which reduces the system to a certain extent. Intelligence level, without using reasoning methods, rhetorical question guidance and expectation analysis

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Embodiment Construction

[0029] The intelligent sorting method of the modular robot arm involved in the present invention will be described in detail below with reference to the drawings and embodiments.

[0030] figure 1 It is a step diagram of the intelligent sorting method of the modularized robotic arm in the embodiment of the present invention.

[0031] Such as figure 1 As shown, the intelligent sorting method of the modular robotic arm has the following steps:

[0032] Step 1: Complete target detection and recognition through the somatosensory sensor, obtain accurate spatial location information of each object in the scene, obtain a 3D scene semantic map description file, and enter step 2.

[0033] figure 2 It is the overall structure diagram of the point cloud collection and object recognition in the embodiment of the present invention.

[0034] Such as figure 2 As shown, the depth information and color information of the map collected by the somatosensory sensor are fused to generate 3D...

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Abstract

The invention relates to an intelligent sorting method of a modular mechanical arm. The intelligent sorting method is characterized by including the following steps that: step 1, target detection and recognition are completed through a somatosensory sensor, the accurate spatial position information of objects in a scene is acquired, so that a 3D scene semantic map description file can be obtained; step 2, an intention is determined through man-machine dialogue, so that sorting rules can be obtained through inference; and step 3, a solution is received, the solution is programmed into robot instructions through natural language programming, and the instructions are analyzed, compiled and executed, and the mechanical arm is controlled to perform intelligent sorting. With the method provided by the invention adopted, control on the modular mechanical arm can be realized, and intelligent perception and recognition as well as man-machine dialogue and interaction are fused into a control system, so that an intelligent sorting task can be successfully completed, and the intelligence of the modular mechanical arm can be improved.

Description

technical field [0001] The invention relates to the field of control of modular manipulators, in particular to an intelligent sorting method for modular manipulators. Background technique [0002] Compared with traditional robotic arms, modular robotic arms have the advantages of small footprint, low cost, diverse functions, and strong flexibility. In recent years, more and more robot companies or robotics research institutes at home and abroad have carried out research on modular robotic arms and achieved certain results. [0003] Incorporating three-dimensional object recognition, human-computer interaction and reasoning into the modular robotic arm sorting operation platform greatly improves the intelligence level of the sorting system. [0004] Relevant patents were found by literature search: the invention patent "Intelligent Sorting System and Sorting Method" published on April 22, 2015 with the application number CN201410723309.3 discloses an intelligent sorting meth...

Claims

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Application Information

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IPC IPC(8): G06T7/00G06N5/04
CPCG06N5/046G06T7/0004G06T2200/04
Inventor 闵华松陈鸣宇林云汉康雅文裴飞龙吴凡周昊天熊志恒丁礼健黄铸栋李潇齐诗萌周炳南
Owner WUHAN UNIV OF SCI & TECH
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