CN111251295B - 一种应用于参数化零件的视觉机械臂抓取方法及装置 - Google Patents
一种应用于参数化零件的视觉机械臂抓取方法及装置 Download PDFInfo
- Publication number
- CN111251295B CN111251295B CN202010048562.9A CN202010048562A CN111251295B CN 111251295 B CN111251295 B CN 111251295B CN 202010048562 A CN202010048562 A CN 202010048562A CN 111251295 B CN111251295 B CN 111251295B
- Authority
- CN
- China
- Prior art keywords
- point cloud
- parameterized
- target
- point
- template
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 55
- 230000000007 visual effect Effects 0.000 title claims abstract description 11
- 238000013528 artificial neural network Methods 0.000 claims abstract description 30
- 238000013507 mapping Methods 0.000 claims abstract description 27
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 20
- 230000006870 function Effects 0.000 claims description 39
- 238000005070 sampling Methods 0.000 claims description 20
- 230000008569 process Effects 0.000 claims description 15
- 238000013519 translation Methods 0.000 claims description 11
- 239000011159 matrix material Substances 0.000 claims description 10
- 238000004088 simulation Methods 0.000 claims description 9
- 238000012549 training Methods 0.000 claims description 9
- 238000007781 pre-processing Methods 0.000 claims description 6
- 238000009877 rendering Methods 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 7
- 238000001914 filtration Methods 0.000 description 6
- 238000013135 deep learning Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000006467 substitution reaction Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Software Systems (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Geometry (AREA)
- Artificial Intelligence (AREA)
- Computer Graphics (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Image Analysis (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010048562.9A CN111251295B (zh) | 2020-01-16 | 2020-01-16 | 一种应用于参数化零件的视觉机械臂抓取方法及装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202010048562.9A CN111251295B (zh) | 2020-01-16 | 2020-01-16 | 一种应用于参数化零件的视觉机械臂抓取方法及装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN111251295A CN111251295A (zh) | 2020-06-09 |
CN111251295B true CN111251295B (zh) | 2021-05-14 |
Family
ID=70943951
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202010048562.9A Active CN111251295B (zh) | 2020-01-16 | 2020-01-16 | 一种应用于参数化零件的视觉机械臂抓取方法及装置 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN111251295B (zh) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112017226B (zh) * | 2020-08-26 | 2023-10-31 | 清华大学深圳国际研究生院 | 面向工业零件6d位姿估计的方法及计算机可读存储介质 |
CN112102397B (zh) * | 2020-09-10 | 2021-05-11 | 敬科(深圳)机器人科技有限公司 | 一种多层零件的定位方法、设备、***及可读存储介质 |
CN112164115B (zh) * | 2020-09-25 | 2024-04-02 | 清华大学深圳国际研究生院 | 物***姿识别的方法、装置及计算机存储介质 |
CN112862878B (zh) * | 2021-02-07 | 2024-02-13 | 浙江工业大学 | 一种基于3d视觉的机械臂修坯方法 |
CN113065392A (zh) * | 2021-02-24 | 2021-07-02 | 苏州盈科电子有限公司 | 一种机器人的跟踪方法和装置 |
CN113128610A (zh) * | 2021-04-26 | 2021-07-16 | 苏州飞搜科技有限公司 | 一种工业零件位姿估计方法及*** |
CN113345100B (zh) * | 2021-05-19 | 2023-04-07 | 上海非夕机器人科技有限公司 | 用于物体的目标抓取姿态的预测方法、装置、设备和介质 |
CN113808201A (zh) * | 2021-08-06 | 2021-12-17 | 亿嘉和科技股份有限公司 | 一种目标物体检测方法及引导抓取方法 |
CN114742789B (zh) * | 2022-04-01 | 2023-04-07 | 桂林电子科技大学 | 一种基于面结构光的通用零件拾取方法、***及电子设备 |
CN116330306B (zh) * | 2023-05-31 | 2023-08-15 | 之江实验室 | 一种物体的抓取方法、装置、存储介质及电子设备 |
CN118135020A (zh) * | 2024-05-07 | 2024-06-04 | 深圳市信润富联数字科技有限公司 | 放置转向节的方法及装置、存储介质、电子装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11613015B2 (en) * | 2017-09-18 | 2023-03-28 | Telefonaktiebolaget Lm Ericsson (Publ) | Technique for providing reliable control in a cloud robotics system |
CN110246127A (zh) * | 2019-06-17 | 2019-09-17 | 南京工程学院 | 基于深度相机的工件识别与定位方法和***、分拣*** |
CN110349260B (zh) * | 2019-07-11 | 2022-06-17 | 武汉中海庭数据技术有限公司 | 一种路面标线自动提取方法及装置 |
CN110490915B (zh) * | 2019-08-19 | 2023-11-24 | 重庆大学 | 一种基于卷积受限玻尔兹曼机的点云配准方法 |
-
2020
- 2020-01-16 CN CN202010048562.9A patent/CN111251295B/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN111251295A (zh) | 2020-06-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN111251295B (zh) | 一种应用于参数化零件的视觉机械臂抓取方法及装置 | |
CN112132894B (zh) | 一种基于双目视觉引导的机械臂实时跟踪方法 | |
Hu et al. | 3-D deformable object manipulation using deep neural networks | |
Arduengo et al. | Robust and adaptive door operation with a mobile robot | |
CN112297013B (zh) | 一种基于数字孪生和深度神经网络的机器人智能抓取方法 | |
CN110378325B (zh) | 一种机器人抓取过程中的目标位姿识别方法 | |
CN112907735B (zh) | 一种基于点云的柔性电缆识别与三维重建方法 | |
CN111243017A (zh) | 基于3d视觉的智能机器人抓取方法 | |
Sui et al. | Sum: Sequential scene understanding and manipulation | |
CN111695562A (zh) | 一种基于卷积神经网络的机器人自主抓取方法 | |
Suzuki et al. | Grasping of unknown objects on a planar surface using a single depth image | |
Tang et al. | Learning collaborative pushing and grasping policies in dense clutter | |
CN110909644A (zh) | 基于强化学习的机械臂末端执行器抓取姿态调整方法及*** | |
US20230086122A1 (en) | Human-Robot Collaborative Flexible Manufacturing System and Method | |
Suzuki et al. | Online self-supervised learning for object picking: detecting optimum grasping position using a metric learning approach | |
Devgon et al. | Orienting novel 3D objects using self-supervised learning of rotation transforms | |
Sun et al. | Robotic grasping using semantic segmentation and primitive geometric model based 3D pose estimation | |
Khargonkar et al. | Neuralgrasps: Learning implicit representations for grasps of multiple robotic hands | |
CN109508707B (zh) | 基于单目视觉的机器人稳定抓取物体的抓取点获取方法 | |
CN117340929A (zh) | 一种基于三维点云数据的柔性夹爪抓取处置装置及方法 | |
Xu et al. | Learning to reorient objects with stable placements afforded by extrinsic supports | |
Ren et al. | Vision based object grasping of robotic manipulator | |
Wang et al. | Design of a voice control 6DoF grasping robotic arm based on ultrasonic sensor, computer vision and Alexa voice assistance | |
Tekden et al. | Grasp transfer based on self-aligning implicit representations of local surfaces | |
Li | A Design of Robot System for Rapidly Sorting Express Carton with Mechanical Arm Based on Computer Vision Technology |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230802 Address after: 6th Floor, Building 1, No. 22 Hongyuan Road, Huangpu District, Guangzhou City, Guangdong Province, 510700 Patentee after: Guangzhou Qingzhuang Technology Partnership (L.P.) Address before: Second floor, building a, Tsinghua campus, Shenzhen University Town, Xili street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: Tsinghua Shenzhen International Graduate School |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20230823 Address after: 6th Floor, Building 1, No. 22 Hongyuan Road, Huangpu District, Guangzhou City, Guangdong Province, 510000 Patentee after: Guangzhou Fuwei Intelligent Technology Co.,Ltd. Address before: 6th Floor, Building 1, No. 22 Hongyuan Road, Huangpu District, Guangzhou City, Guangdong Province, 510700 Patentee before: Guangzhou Qingzhuang Technology Partnership (L.P.) |
|
TR01 | Transfer of patent right |