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Real-time obstacle avoidance planning and grasping system of industrial manipulator based on kinect depth camera

A technology of depth camera and industrial machinery, which is 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

Active Publication Date: 2021-02-19
SOUTH CHINA UNIV OF TECH
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  • Claims
  • Application Information

AI Technical Summary

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 avoidance planning and grasping system of industrial manipulator based on kinect depth camera
  • Real-time obstacle avoidance planning and grasping system of industrial manipulator based on kinect depth camera
  • Real-time obstacle avoidance planning and grasping system of industrial manipulator based on kinect depth camera

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Embodiment Construction

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

[0056] The real-time obstacle avoidance planning and grasping system of the industrial manipulator based on the Kinect depth camera provided by the present invention specifically combines computer vision and digital image processing technology to sense 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 achieve the optimal grasping pose, and then the dexterous hand is controlled by the 5DT data glove to carry out the grasping operation.

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

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Abstract

The invention discloses a Kinect depth camera-based real-time obstacle avoidance planning and grasping system of an industrial manipulator. Combining with computer vision technology, the Kinect camera is used to dynamically perceive the production environment around the industrial manipulator, and detect and track the dynamics in the environment. Obstacles, and then through the edge detection algorithm to obtain the edge information of dynamic obstacles. By updating the bounding box of dynamic obstacles, the LazyPRM algorithm is used to realize dynamic obstacle avoidance planning and object grasping operations. The invention enables the industrial manipulator to have a more intelligent ability to perceive changes in the production environment, effectively improves the production safety and the intelligence of the industrial manipulator operation, and provides a basis for future intelligent factories to realize intelligence and interconnection. a viable option.

Description

technical field [0001] The invention relates to the application field of industrial manipulators, in particular to a real-time obstacle avoidance planning and grasping system for industrial manipulators based on a Kinect depth camera. Background technique [0002] Since the first industrial robot appeared in the early 1960s, it has been the best means of replacing workers on the 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 putting industrial robots directly on the assembly line to complete the work has great limitations. Especially with the development and updating of information technology, industrial robots can no longer meet the current production needs of multiple varieties and small batches through the traditional off-line programming and the production method of completing fixed operations. Industrial robots must rely on machine vision to perceive dynamic en...

Claims

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Application Information

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Patent Type & Authority Patents(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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