Visual servo positioning and grabbing method

Abstract

The invention relates to the technical field of robots, in particular to a visual servo positioning and grabbing method, and aims to solve the problem in the prior art that the robot can not precisely position and grab a target object by self. The visual servo positioning and grabbing method comprises the following steps: acquiring an image of the target object; determining the position information of the target object in the image; determining the actual position of the target object in the environment according to the position information; and according to the actual position, controlling a manipulator of the robot to grab the target object. With adoption of the technical scheme, the robot efficiently and precisely positions and grabs the target object by self; and in addition, a hardware system of the robot does not need to be improved, so that limitation of the environment to the hardware system of the robot is lowered.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a visual servo positioning and grasping method. Background technique [0002] For a long time, due to the limitations of deep-sea exploration technology, the scientific community has limited understanding of deep-sea life, environment and geological processes. With the continuous breakthrough of deep-sea exploration technology, deep-sea science is becoming the latest frontier field of international marine science. Full-sea deep autonomous remote operated vehicle (ARV, Autonomous&Remotely operated Vehicle) provides an important technical means for scientists to carry out deep-sea frontier scientific research. Through full-sea deep ARV, it can realize large-scale high-precision detection and local fine sampling operations in deep sea areas. Scientists can Explore the origin, evolution and environmental adaptation mechanism of deep-sea species, study the basic environmental characte...

AI Technical Summary

Problems solved by technology

[0005] In order to solve at least one of the above-mentioned problems in the prior art, that is, in order to solve the problem that the existing positioning and grasping system is not efficient and accurate enough, the present invention provides a visual servo positioning and grasping method, which is suitable for robots, and the robot includes The robot body, the manipulator movably connected with the robot body, and the first camera arranged on the robot body and the second camera arranged on the manipulator are characterized in that the method comprises the following steps: collecting images of target objects; determining the target object Position information in the image; determine the actual position of the target object in the environment according to the position information; control the manipulator of the robot to grab the target object according to the actual position

The visual servo positioning and grasping method of the present invention can solve the problem of efficient and accurate identification and grasping of target objects by the full-sea depth autonomous remote control submersible, and at the same time, the present invention does not need to change the hardware of the full-sea depth autonomous remote control submersible , thereby reducing the impact of light, vibration, and high pressure in the deep sea environment on the hardware of the full-sea autonomous remote-controlled submersible

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