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Robot disordered grabbing method and system based on machine vision and storage medium

A technology of machine vision and robotics, applied in the field of 3D disorderly grasping, can solve problems such as limitations and poor flexibility, and achieve the effect of improving accuracy and integrity, improving accuracy, and improving target detection accuracy

Active Publication Date: 2020-12-11
纳博特南京科技有限公司
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AI Technical Summary

Problems solved by technology

In the existing technology, most of the robots on the production line realize various operations through teaching reproduction or pre-programming. To complete the grabbing and placement of parts, they must go through precise point-by-point teaching, which has great limitations. , poor flexibility

Method used

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  • Robot disordered grabbing method and system based on machine vision and storage medium
  • Robot disordered grabbing method and system based on machine vision and storage medium
  • Robot disordered grabbing method and system based on machine vision and storage medium

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Embodiment Construction

[0034] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be described in further detail below in conjunction with the accompanying drawings, and the described embodiments should not be considered as limiting the present invention, and those of ordinary skill in the art do not make any All other embodiments obtained under the premise of creative labor belong to the protection scope of the present invention.

[0035] see figure 1, is a robot disorder grasping system based on machine vision provided by an embodiment of the present invention, the system includes: an image acquisition module, a target pose estimation module, a hand-eye system calibration module, and a robot grasping module.

[0036] Wherein, the image acquisition module uses the kinect camera that has been calibrated to acquire image data on the surface of the target object, and preprocesses the image data to obtain three-dimensional point ...

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Abstract

The invention discloses a robot disordered grabbing method and system based on machine vision. The method comprises the steps that a kinect camera and a grabbing system of a robot are built, the kinect camera is used for collecting image data of the surface of a target object, and the image data are preprocessed to obtain three-dimensional point cloud data; target detection, target segmentation, target clustering, key point feature extraction, feature registration and target object recognition are performed on the acquired three-dimensional point cloud data to obtain pose information of the target object; and according to the calibration result of the hand-eye system, coordinate conversion is carried out on the pose information, and a control instruction is sent to a robot to grab the target object. By analyzing the defects of the algorithm in the disordered grabbing process of the robot and improving the existing algorithm, the complex environment where the robot is located is adapted, and therefore the disordered grabbing accuracy of the robot and the flexibility of the robot are improved.

Description

technical field [0001] The invention relates to the technical field of robot vision systems, in particular to a method, system and storage medium for 3D disorderly grasping. Background technique [0002] With the rapid expansion of the robot market and the rapid maturity of robot technology, the industrial robot industry has ushered in unprecedented opportunities for development. The original human-oriented production model has gradually changed to a production model dominated by industrial robots. The extensive use of industrial robots has promoted the rapid transformation of my country's industry from a "manufacturing power" to a "smart manufacturing power". [0003] However, in the process of robot operation, how to accurately grasp the randomly stacked parts or goods has become a hot issue in current research. In the existing technology, most of the robots on the production line realize various operations through teaching and reproduction or pre-programming. To complete...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/50G06T7/11G06T7/33G06T7/80G06K9/62G06N3/04G06T5/00G01C11/02
CPCG06T7/50G06T7/11G06T7/33G06T7/85G01C11/02G06V10/757G06N3/045G06F18/23G06T5/70
Inventor 甘亚光张晓龙甘亚辉刘元建廖连莹
Owner 纳博特南京科技有限公司
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