Method for grabbing target object of service robot based on vision

• Main Authors: WU YELAN, YU JUNZHI, CAO ZHIQIANG, CAI JUN, TAN MIN, GENG WENJIE, ZHAO XIONGLEI
• Format: Patent
• Language: Chinese; English
• Published: 23.11.2018
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention relates to the technical field of service robots, in particular to a method for grabbing a target object of a service robot based on vision, and aims at solving the problem of robot grabbing in the situation that an obstacle preventing the target object from being directly grabbed exist is solved. The method for grabbing the target object comprises the following steps of: acquiring acolor image and original three-dimensional point cloud data under a camera coordinate system; detecting the target object, acquiring the point cloud data of the target object and obtaining the pointcloud data of the environment around the target object, and transforming the point cloud data into the coordinate system of the mechanical arm; fitting the plane equation of the plane of the target object under the coordinate system of the mechanical arm; on this basis, the position and size information of each obstacle and the position and size information of the target object are acquired; basedon the position and size i