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Target object grabbing method and device, storage medium and electronic device

A technology of target objects and target coordinates, which is applied in the fields of devices, target object grasping methods, storage media and electronic equipment, can solve the problems of low accuracy of grasping position selection, and achieves improved selection accuracy and improved grasping stability. , the effect of reducing the risk of damage

Active Publication Date: 2021-04-30
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present disclosure is to provide a target object grasping method, device, storage medium and electronic equipment to solve the problem of low accuracy in selecting the grasping position of the target object in the related art

Method used

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  • Target object grabbing method and device, storage medium and electronic device
  • Target object grabbing method and device, storage medium and electronic device
  • Target object grabbing method and device, storage medium and electronic device

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Experimental program
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Embodiment

[0158] 1. A method for grasping a target object, comprising:

[0159] determining the target coordinates of each input point in the target object according to the 3D point cloud corresponding to the target object;

[0160] Based on the down-sampling method, generating seed points according to the target coordinates of each input point;

[0161] Inputting the original coordinates of each seed point into the grasping axis endpoint prediction model to obtain the grasping axis endpoint coordinates of the target object;

[0162] Determine the grasping pose of the robot according to the coordinates of the end points of the grasping axis, and control the robot to adjust the pose according to the grasping pose, and grasp the target object according to the coordinates of the end points of the grasping axis.

[0163] 2. According to the method described in Embodiment 1, the grabbing axis endpoint prediction model generates the grabbing axis endpoint coordinates of the target object in ...

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Abstract

The invention relates to a target object grabbing method and device, a storage medium and an electronic device, and aims to solve the problem of relatively low grabbing position selection accuracy of a target object in related technologies. The method comprises the following steps of determining a target coordinate of each input point in the target object according to 3D point cloud corresponding to the target object; on the basis of a down-sampling method, generating seed points according to the target coordinate of each input point; inputting the original coordinate of each seed point into a grabbing axis endpoint prediction model to obtain a grabbing axis endpoint coordinate of the target object; and determining a grabbing pose of a robot according to the grabbing axis endpoint coordinate, controlling the robot to adjust the pose according to the grabbing pose, and grabbing the target object according to the grabbing axis endpoint coordinate. In this way, the grabbing position selection accuracy of the target object is improved.

Description

technical field [0001] The present disclosure relates to the technical field of computer vision, and in particular, to a method, device, storage medium and electronic equipment for grasping a target object. Background technique [0002] The 6D object pose (6D Object Pose Estimation) refers to the translation and rotation transformation of the camera coordinate system relative to the world system where the original object is located at the moment of shooting the current image. Among them, there are 3 displacement degrees of freedom and 3 rotation degrees of freedom. Based on the 6D pose of the object, the 6D grasping pose information of the grasping robot can be accurately determined, thereby improving the accuracy of object grasping. [0003] In related scenarios, the grasping feature points are determined according to the geometric structure of the target object, and the optimal grasping position of the grasping robot and the pose of the robot's mechanical arm are calibrat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1664B25J9/1697B25J9/1602
Inventor 不公告发明人
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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