Title:
METHOD AND APPARATUS FOR GRABBING DISORDERED WIRES, AND ELECTRONIC DEVICE
Document Type and Number:
WIPO Patent Application WO/2024/067005
Kind Code:
A1
Abstract:
The present application relates to the technical field of automatic sorting. Provided are a method and apparatus for grabbing disordered wires, and an electronic device. The method comprises: acquiring a depth image of wires in a material box, and on the basis of the sizes of the wires, establishing a plurality of ROIs in the depth image; on the basis of a deep neural network model obtained by means of pre-training, performing recognition on each ROI, so as to obtain a grabbing point recognition result for the ROI, wherein the deep neural network model is obtained by means of training grabbing-point positive and negative sample images, which are obtained by means of pre-labeling; acquiring point cloud data of the wires in the material box, and on the basis of the point cloud data and grabbing point recognition results, determining an optimal grabbing point in the material box; and on the basis of the position of the optimal grabbing point, controlling a grabbing robot to preferentially grab wires corresponding to the optimal grabbing point. By means of the present application, a grabbing robot can be controlled to firstly grab wires that are easily grabbed, thereby ensuring that the grabbing robot can effectively grab wires all the time, and thus improving the efficiency and accuracy of grabbing disordered wires.
Inventors:
ZHANG LEI (CN)
BAI KAIXIN (CN)
CHEN ZHAOPENG (CN)
BAI KAIXIN (CN)
CHEN ZHAOPENG (CN)
Application Number:
PCT/CN2023/117477
Publication Date:
April 04, 2024
Filing Date:
September 07, 2023
Export Citation:
Assignee:
BEIJING SILING ROBOT TECH CO LTD (CN)
International Classes:
G06V10/25
Foreign References:
| CN115620004A | 2023-01-17 | |||
| CN112802105A | 2021-05-14 | |||
| US20220288783A1 | 2022-09-15 |
Other References:
" Master’s Theses ", 15 May 2022, NORTHEASTERN UNIVERSITY, China, article YUAN, BO: "Research on Object Grasping of Two-finger Robot Based on Deep Learning", pages: 1 - 79, XP009553860
"Master Thesis", 15 May 2019, ZHEJIANG UNIVERSITY, CN, article WANG BIN: "Research on Robot Grabbing Detection Algorithm based on Depth Images and Deep Learning", pages: 1 - 85, XP009553768
"Master Thesis", 15 May 2019, ZHEJIANG UNIVERSITY, CN, article WANG BIN: "Research on Robot Grabbing Detection Algorithm based on Depth Images and Deep Learning", pages: 1 - 85, XP009553768
Attorney, Agent or Firm:
BEIJING HUIYINGJIECHUANG INTELLECTUAL PROPERTY AGENCY (CN)
Download PDF:
Previous Patent: PROMOTION METHOD, ELECTRONIC DEVICE, AND SYSTEM
Next Patent: DISORDERED WIRE SORTING METHOD, APPARATUS, AND SYSTEM
Next Patent: DISORDERED WIRE SORTING METHOD, APPARATUS, AND SYSTEM