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Method and system for guiding mechanical hand grabbing through three-dimensional visual guidance

A technology of 3D vision and manipulator, which is applied in the field of visual guidance, can solve the problem that the manipulator cannot independently identify non-fixed target operating points in 3D space, and achieve the effect of high repeatability and guaranteed operation accuracy

Inactive Publication Date: 2019-06-25
QINGDAO XIAOYOU INTELLIGENT TECH CO LTD
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Problems solved by technology

[0005] The purpose of the present invention is to provide a method and system for three-dimensional vision-guided manipulator grasping. With the background of precise grasping for industry, it revolves around the vision-based hand-eye coordination deployment method and control system design, aiming to solve the problems of the prior art. In , the problem that the manipulator cannot independently identify the non-fixed target operating point in the three-dimensional space

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  • Method and system for guiding mechanical hand grabbing through three-dimensional visual guidance
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  • Method and system for guiding mechanical hand grabbing through three-dimensional visual guidance

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[0032] In order to make the object, technical solution and advantages of the present invention more clear and definite, the present invention will be further described in detail below with reference to the accompanying drawings and examples.

[0033] like figure 1 As shown, a three-dimensional vision-guided manipulator grasping method includes the following steps:

[0034] A. The system model of the 3D vision guidance system, that is, the spatial geometric relationship between the 3D vision module device 100 and the robot. We use the Eye-To-Hand system to build the Eye-To-Hand 3D vision guidance system. When the platform 200 and the environment are fixed, the base of the robot does not move, and the three-dimensional vision module device 100 is installed at a fixed position relative to the base of the manipulator 300 to ensure the stability and reliability of the entire system; The movement of the arm changes, and the target object is not easy to leave the observation field o...

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Abstract

The invention provides a method and system for guiding mechanical hand grabbing through three-dimensional visual guidance. The whole system is fixed in space, the visual field does not change due to the movement of a mechanical arm, and a target object is not likely to be away from the observation visual field of a camera; by means of acquisition in an off calibration manner, a system model structure can be repeatedly calibrated, and therefore the work precision in long-time work tasks is guaranteed; and a robot can sense environments, by means of the 3D machine vision scanning and point cloudfeature recognition and analysis technology, the robot is guided to complete some recognition and grabbing tasks of disorderly objects, and people are liberated from high-repeatability dangerous labor.

Description

technical field [0001] The invention belongs to the technical field of vision guidance, and in particular relates to a method and system for grasping by a three-dimensional vision guidance manipulator. Background technique [0002] With the development of society, manipulators are more and more commonly used to replace manual labor. As an important way of robot perception, vision technology imitates the human visual function, and perceives the objective environment by analyzing the information scanned by the 3D vision module, so as to realize measurement and judgment, and realize interaction with the objective environment. For high-precision and flexible operations, it must be completed with the help of machine intelligent recognition to help the manipulator actively reach the non-fixed target operating point in the three-dimensional space. It is very necessary to study adding 3D visual guidance function to the manipulator. [0003] In the prior art, the manipulator cannot...

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Application Information

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IPC IPC(8): B25J9/16
Inventor 李虹杜先鹏郭俊兴代启强周印伟
Owner QINGDAO XIAOYOU INTELLIGENT TECH CO LTD
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