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Real-time obstacle-avoiding planning and grabbing system for industrial manipulators based on Kinect depth camera

A technology of depth camera and industrial machinery, applied in the field of real-time obstacle avoidance planning and grasping system of industrial manipulator, can solve the problems of low intelligence and low structural integration, and achieve the effect of improving safety and effective safety

Active Publication Date: 2018-12-11
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

The main characteristics of industrial robots are low structural integration, simple and fixed tasks, and low intelligence

Method used

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  • Real-time obstacle-avoiding planning and grabbing system for industrial manipulators based on Kinect depth camera
  • Real-time obstacle-avoiding planning and grabbing system for industrial manipulators based on Kinect depth camera
  • Real-time obstacle-avoiding planning and grabbing system for industrial manipulators based on Kinect depth camera

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Embodiment Construction

[0055] The present invention will be further described below in conjunction with specific embodiments.

[0056] The real-time obstacle avoidance planning and grasping system for industrial manipulators based on Kinect depth camera provided by the present invention specifically combines computer vision and digital image processing technology to perceive the position and size of dynamic obstacles in the working space of the industrial manipulator through the Kinect camera Information, and then use the path planning algorithm for path planning. After the optimal path is calculated, the robotic arm is driven to reach the optimal grasping posture, and then the dexterous hand is controlled by the 5DT data glove for grasping operations.

[0057] System architecture such as figure 1 As shown, it is composed of 5 parts: kinematics module, path planning module, object grasping module, dynamic environment detection module and simulation module. The five modules complement each other and coop...

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Abstract

The invention discloses a real-time obstacle-avoiding planning and grabbing system for industrial manipulators based on Kinect depth camera. A Kinect depth camera is used with the computer vision technology to dynamically sense a production environment around an industrial manipulator, thereby detecting and tracking a dynamic obstacle in the environment; boundary information of the dynamic obstacle is acquired through a boundary detection algorithm. A bounding box of the dynamic obstacle is updated; LazyPRM algorithm is used to provide dynamic obstacle-avoiding planning and object grabbing. The system herein has the advantages that an industrial manipulator is given the capacity to more intelligently sense changes in the production environment, production safety is effectively improved, intelligence level of industrial manipulator operation is effectively increased, and a feasible scheme is provided for substantially implementing intelligence and interconnection of future intelligent factories.

Description

Technical field [0001] The invention relates to the application field of an industrial mechanical arm, in particular to a real-time obstacle avoidance planning and grasping system for an industrial mechanical arm based on a Kinect depth camera. Background technique [0002] Since the first industrial robot appeared in the early 1960s, it has always been the best way to replace workers on an assembly line. After more than half a century of development, industrial robots have played a huge role in more and more production fields. However, simply loading industrial robots directly on the assembly line to complete the work has great limitations. Especially with the development and update of information technology, industrial robots have become increasingly unable to meet the current production needs of many varieties and small batches through traditional offline programming and production methods of completing fixed and unchanging tasks. Industrial robots must rely on machine visio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1666B25J9/1671
Inventor 陈星辰肖南峰
Owner SOUTH CHINA UNIV OF TECH
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