The invention relates to a disordered grabbing method based on machine vision. The method comprises the following steps: dividing a storage area of a grabbed object into a plurality of areas to be grabbed, carrying out preliminary identification on each area to be grabbed, and determining an optimal area to be grabbed according to an identification result; initializing a grabbing set, and determining a first element of the grabbing set; determining a maximum grabbing set; and the terminal grabber is controlled to execute grabbing on the maximum grabbing set, and according to the grabbing confidence coefficient of the maximum grabbing set, the grabbed motion unit and the motion path of the terminal grabber are planned and executed. According to the method, on the basis of ensuring the grabbing reliability, the grabbing efficiency and flexibility are improved.

    本发明涉及一种基于机器视觉的无序抓取方法。该方法包括:将抓取对象的存放区域划分为多个待抓取区域,对各待抓取区域进行初步识别,并根据识别结果确定最优待抓取区域;初始化抓取集合,确定抓取集合的第一元素;确定最大抓取集合;控制终端抓取器对最大抓取集合执行抓取,并根据最大抓取集合的抓取置信度,规划并执行抓取后的运动单元和终端抓取器的运动路径。该方法在保证抓取可靠性的基础上,提高抓取的效率和灵活性。


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    Title :

    Disordered grabbing method based on machine vision


    Additional title:

    一种基于机器视觉的无序抓取方法


    Contributors:
    ZHANG XIAOLONG (author) / GAN YAGUANG (author) / LIU YUANJIAN (author) / CHENG TONG (author)

    Publication date :

    2023-03-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen



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