Title:
METHOD AND APPARATUS FOR GUIDING ROBOT POSITIONING AND GRABBING BASED ON 3D GRATING, AND DEVICE
Document Type and Number:
WIPO Patent Application WO/2023/060926
Kind Code:
A1
Abstract:
A method for guiding robot positioning and grabbing based on 3D grating, comprising: embedding a grating scanner between binocular cameras; calibrating the binocular cameras; performing hand-eye calibration on the binocular cameras and a robot; enabling the binocular cameras to be in communication with the robot; enabling the binocular cameras to photograph an object to be grabbed, to obtain point cloud information comprising three-dimensional coordinates; performing smoothing filtering on the point cloud information by using bilateral filtering, and reserving boundary information; performing three-dimensional object recognition on the basis of the filtered point cloud information, to obtain coordinates of said object in a robot coordinate system; calculating robot grabbing pose information according to the coordinates, and returning the robot grabbing pose information to the robot; and enabling the robot to carry out positioning grabbing according to the robot grabbing pose information. Also disclosed are an apparatus for guiding robot positioning and grabbing based on 3D grating and a computer device for implementing the positioning and grabbing method. According to the method for guiding robot positioning and grabbing based on 3D grating, the problem in the prior art that an object cannot be accurately positioned and grabbed during guiding of robot positioning and grabbing is solved, and the method has the effect of accurately positioning and grabbing the object.
Inventors:
CUI YAN (CN)
LIU QIANG (CN)
LIU QIANG (CN)
Application Number:
PCT/CN2022/099913
Publication Date:
April 20, 2023
Filing Date:
June 20, 2022
Export Citation:
Assignee:
UNIV WUYI (CN)
GUANGDONG SIWEIKAN INTELLIGENT EQUIPMENT CO LTD (CN)
CHINA GERMANY ZHUHAI ARTIFICIAL INTELLIGENCE RES INSTITUTE CO LTD (CN)
4DAGE CO LTD (CN)
GUANGDONG SIWEIKAN INTELLIGENT EQUIPMENT CO LTD (CN)
CHINA GERMANY ZHUHAI ARTIFICIAL INTELLIGENCE RES INSTITUTE CO LTD (CN)
4DAGE CO LTD (CN)
International Classes:
B25J9/16; B25J19/02
Foreign References:
| CN114029946A | 2022-02-11 | |||
| CN112476434A | 2021-03-12 | |||
| CN109927036A | 2019-06-25 | |||
| CN111476841A | 2020-07-31 | |||
| CN109249392A | 2019-01-22 | |||
| CN109255813A | 2019-01-22 | |||
| US20180089831A1 | 2018-03-29 |
Attorney, Agent or Firm:
JIAQUAN IP LAW (CN)
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