CN108044627A - Detection method, device and the mechanical arm of crawl position - Google Patents
Detection method, device and the mechanical arm of crawl position Download PDFInfo
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- CN108044627A CN108044627A CN201711481188.6A CN201711481188A CN108044627A CN 108044627 A CN108044627 A CN 108044627A CN 201711481188 A CN201711481188 A CN 201711481188A CN 108044627 A CN108044627 A CN 108044627A
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- target object
- image information
- mechanical arm
- crawl position
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- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
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- 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
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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Abstract
The application is suitable for intelligent testing technology field, provides a kind of detection method of crawl position, device and mechanical arm, including：Mechanical arm obtains the first image information and the second image information of target object in first position and the second place respectively, and determines the three-dimensional geometric shapes of the shape of target object；If the three-dimensional geometric shapes are regular geometric figure, the crawl position of target object is determined according to its geometric center；Otherwise at least two characteristic point of irregular geometric figures is obtained, the crawl position of target object is determined according to characteristic point.According to the image information of the target object obtained at different locations during this, determine the three-dimensional geometric shapes of its shape, improve the accuracy of the shape of the target object detected；Crawl position is determined using different methods to the target object of different shapes, so as to fast and accurately find suitable crawl position according to target object unique characteristics, improves the probability that mechanical arm successfully captures.
Description
Technical field
The application belongs to a kind of intelligent testing technology field more particularly to detection method of crawl position, device and machinery
Arm.
Background technology
As the mechanical structures such as the continuous development of computer technology, robot are constantly applied in all trades and professions, such as
In some enterprises, the working condition of some equipment being in extreme environment is checked by robot or to equipment into
Row repairs or some industrial products is sorted, captures movement etc..Some knots are often used when being captured to product
The relatively simple mechanical arm of structure, by the movement of control centre's control machinery arm and the crawl to article.Mechanical arm is generally set
There is actuating station, target object is captured by actuating station.Due to the influence of the factors such as the shape of object, quality, mechanical arm to object into
It during row crawl, tends not to accurately determine suitable crawl position, and occurs grabbing less than article or after object is picked up
The phenomenon that object drops in moving process causes the efficiency that mechanical arm successfully captures low.
The content of the invention
In view of this, the embodiment of the present application provides a kind of detection method of crawl position, device and mechanical arm, to solve
In the prior art due to crawl position be difficult to accurately determine, caused by mechanical arm successfully capture the problem of efficiency is low.
The first aspect of the embodiment of the present application provides a kind of detection method of crawl position, the detection of the crawl position
Method includes：
Mechanical arm obtains the first image information of target object at first position；
According to the second image information that the target object is obtained after preset rules mobile mechanical arm to the second place；
Determine that the three-dimensional of the shape of the target object is several according to described first image information and second image information
What figure；
If the three-dimensional geometric shapes are regular geometric figure, determined according to the geometric center of the regular geometric figure
The crawl position of the target object；
If the three-dimensional geometric shapes are irregular geometric figures, at least two of the irregular geometric figures are obtained
Characteristic point, the crawl position of the target object is determined according to the characteristic point.
The second aspect of the embodiment of the present application provides a kind of detection device of crawl position, the detection of the crawl position
Device includes：
Image information acquisition module, for mechanical arm to be made to obtain the first image information of target object at first position；
It is additionally operable to according to the second image information that the target object is obtained after preset rules mobile mechanical arm to the second place；
Three-dimensional geometric shapes determining module, for determining institute according to described first image information and second image information
State the three-dimensional geometric shapes of the shape of target object；
Crawl position determining module, for the three-dimensional geometric shapes be regular geometric figure when, according to the rule
The geometric center of geometric figure determines the crawl position of the target object；It is irregular to be additionally operable in the three-dimensional geometric shapes
During geometric figure, at least two characteristic point of the irregular geometric figures is obtained, the mesh is determined according to the characteristic point
Mark the crawl position of object.
The third aspect of the embodiment of the present application provides a kind of mechanical arm, including memory, processor and is stored in institute
The computer program that can be run in memory and on the processor is stated, the processor performs real during the computer program
Now as any one of the detection method of the crawl position the step of method.
The fourth aspect of the embodiment of the present application provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, and the detection method such as the crawl position is realized when the computer program is executed by processor
Any one of method the step of.
After mechanical arm obtains the first image information of target object at first position in the embodiment that the application provides, press
The second image information of second position acquisition target object is moved to according to preset rules, is determined according to the first and second image informations
The three-dimensional geometric shapes of the shape of target object, when the three-dimensional geometric shapes of target object are regular geometric figure, direct root
The crawl position to target object is determined according to the geometric center of regular geometric figure；If the three-dimensional geometric shapes are irregular several
What figure then determines the crawl position of target object according to the characteristic point of irregular figure.According in different positions during this
The image information for the target object that place obtains is put, the three-dimensional geometric shapes of its shape is determined, improves the target object detected
Shape accuracy；Crawl position is determined using different methods to the target object of different shapes, so as to according to target
Object unique characteristics fast and accurately find suitable crawl position, improve the probability that mechanical arm successfully captures.
Description of the drawings
It, below will be to embodiment or description of the prior art in order to illustrate more clearly of the technical solution in the embodiment of the present application
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only some of the application
Embodiment, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of flow diagram of the detection method for crawl position that the embodiment of the present application one provides；
Fig. 2 is that provided in another embodiment of the application described is believed according to described first image information and second image
Breath determines the realization flow diagram of the three-dimensional geometric shapes of the shape of the target object；
Fig. 3 is a kind of schematic diagram of the detection device for crawl position that the embodiment of the present application two provides；
Fig. 4 is the schematic diagram for the mechanical arm that the embodiment of the present application three provides.
Specific embodiment
In being described below, in order to illustrate rather than in order to limit, it is proposed that such as tool of particular system structure, technology etc
Body details, to understand thoroughly the embodiment of the present application.However, it will be clear to one skilled in the art that there is no these specifically
The application can also be realized in the other embodiments of details.In other situations, omit to well-known system, device, electricity
Road and the detailed description of method, in case unnecessary details interferes the description of the present application.
After mechanical arm obtains the first image information of target object at first position in the embodiment that the application provides, press
The second image information of second position acquisition target object is moved to according to preset rules, is determined according to the first and second image informations
The three-dimensional geometric shapes of target object shape, when the three-dimensional geometric shapes of target object shape are regular geometric figure, directly
Crawl position to target object is determined according to the geometric center of regular geometric figure；If the three-dimensional geometric shapes are irregular
Geometric figure then determines the crawl position of target object according to the characteristic point of irregular figure.
In order to illustrate technical solution described herein, illustrated below by specific embodiment.
Embodiment one：
Fig. 1 shows a kind of flow diagram of the detection method for crawl position that the embodiment of the present application one provides, and is described in detail
It is as follows：
Step S11, mechanical arm obtain the first image information of target object at first position；
In the embodiment that the application provides, mechanical arm is believed first in the first image of certain position photographic subjects object
Breath.First position therein can be the position that mechanical arm is currently located or mechanical arm is moved through to target object
The position for being suitable for shooting the target object selected in journey.
Optionally, when obtaining described first image information, the binocular camera being arranged in mechanical arm can be started, passed through
The binocular camera obtains the first image information of the target object.
Optionally, mechanical arm obtains target object at first position described in another embodiment of the application offer
First image information, further includes：
According to the first position and the distance of target object, it is left to obtain the target object respectively by monocular cam
The image information of right both sides；
The image information at left and right sides of the target object is synthesized, obtains described first image information.
Specifically, when obtaining the first image information of target image by monocular cam, at the first position,
A mesh is shot after the mobile pre-determined distance of shooting direction (direction between mechanical arm and target object indicated by line)
Mark the photo of object, then after the pre-determined distance that the negative direction that moves before moves 2 times of length, again to target object into
Row shooting synthesizes the image information that shoots twice into described first image information.
Step S12, according to the second figure that the target object is obtained after preset rules mobile mechanical arm to the second place
As information；
According to default rule mobile mechanical arm to the second position in the embodiment that the application provides, then to target object
Shot to obtain the second image information of target object again.Wherein, the preset rules are included from the first position
Along preset direction traveling pre-determined distance etc.；The style of shooting of second image information and the shooting side of described first image information
Formula is identical.
Step S13 determines the shape of the target object according to described first image information and second image information
Three-dimensional geometric shapes；
It is identified respectively according to the first image information and the second image information in the step and extracts the shape of target object
Three-dimensional geometric shapes；The three-dimensional geometric shapes extracted twice are compared, to the place that the two has differences, to its equalization
Processing, with the final three-dimensional geometric shapes that target object shape is determined according to extraction result twice.
Wherein, when handling the difference equalization of the extraction result of shape twice, optional position fixing determines different positions
The coordinate information at place is put, equalization processing is then carried out according to coordinate information.
Step S14, if the three-dimensional geometric shapes are regular geometric figure, according to the geometry of the regular geometric figure
Center determines the crawl position of the target object；
In the step, the three-dimensional geometric shapes of the target object shape to extracting judge, if the three-dimensional geometry
Figure is regular geometric figure, then captures target by the location of geometric center of the regular geometric figure and mechanical arm
During object, the plane formed with target object contact point determines the crawl position to target object.Optionally, crawl position institute
Center of gravity of the plane in the target object below (compared with ground level).
Optionally, conventional regular geometric figure formation rule shape library is stored in mechanical arm in advance, such as square is stood
Cube, cylinder etc.；When being judged, the regular geometric figure in the three-dimensional geometric shapes and regular figure storehouse is carried out
It compares, if there are the diversity factoies of a regular geometric figure and the three-dimensional geometric shapes to be less than preset value, judges described three
Dimension geometric figure is regular geometric figure.
Optionally, the geometric center according to the regular geometric figure determines the crawl position of the target object,
Including：
Obtain the position where the geometric center of the regular geometric figure；
When mechanical arm captures the target object, the plane geometry figure that mechanical arm is formed with target object contact point is obtained
The central point of shape；
The position of contact point therebetween is adjusted, until the central point and the line of the geometric center, perpendicular to institute
State the plane geometric figure that mechanical arm is formed with target object contact point；
The contact point of mechanical arm and target object is the crawl position to record at this time.
Specifically, when the three-dimensional geometric shapes of target object shape are regular geometric figure, the regular geometric figure is detected
Position where the geometric center of shape；Then mobile mechanical arm makes mechanical arm capture target object in advance, when mechanical arm touches
When contacting target object, plane that both detections contact position is formed obtains the central point of the plane, then adjust it is described in
The line of heart point is formed with the line that the geometric center of the regular geometric figure is formed perpendicular to both described contact position
Plane.Or, the central point of the plane of adjustment the two contact position formation is overlapped with the geometric center.Wherein, described two
Person's contact position formed plane the target location center of gravity lower section (compared with ground level), record at this time mechanical arm with
Target object contact point is the crawl position.
Step S15 if the three-dimensional geometric shapes are irregular geometric figures, obtains the irregular geometric figures
At least two characteristic point determines the crawl position of the target object according to the characteristic point.
In the step, if judging, the three-dimensional geometric shapes are not regular geometric figures, determine that it is irregular several
What figure.At this point, obtaining the characteristic point of each plane of the three-dimensional geometric shapes, one or more of each plane feature is chosen
Point when choosing the characteristic point of each plane, enables selected all characteristic points to form a new plane, and described
New plane is located at below the center of gravity of target object.The crawl position to target object is determined according to the new plane.
Optionally, Fig. 2 shows the realization flow chart of the above-mentioned steps S13 provided in another embodiment of the application, including：
Step S21 obtains the target object respectively according to described first image information and second image information
First outline drawing and the second outline drawing；
Extract the first shape of target object in the step from described first image information and the second image information respectively
Figure and the second outline drawing, first outline drawing and second outline drawing are the three-dimensional geometry figure of the target object shape
Shape.
Step S22 obtains at least two characteristic points in first outline drawing and second outline drawing；
To two outline drawings extracted, more than two characteristic point in each plane of figure is obtained respectively.
Step S23 extracts characteristic point identical in first outline drawing and second outline drawing, according to described respectively
Identical characteristic point obtains the three-dimensional geometric shapes of the shape of the target object.
The characteristic point that position is identical in two images is extracted, is then obtained according to the identical characteristic point outside target image
The three-dimensional geometric shapes of shape.
Optionally, the detection method of crawl position further includes described in another embodiment of the application offer：
According to being captured at the mechanical arm to the crawl position to the target object；
After the mechanical arm touches the target object, the deformation of the target object is detected；
The grip of mechanical arm is determined according to the deformation of the target object；
The target object is captured at the crawl position with identified grip.
Specifically, when mechanical arm captures target object in the crawl position, in order to ensure that target object is successfully picked up,
Mechanical arm is moved to crawl position first, until touching the target object.Then touched by sensor detection mechanical arm
After contacting target object, the deformation of target object surface generation.It is determined according to the deformation of target object to current object
The grip of the suitable size of body；When being exerted a force due to mechanical arm to target item, target object surface can generate deformation, the deformation
Degree and the power that is applied there are certain relation, therefore, can be determined according to the variation of the surface deformation degree of target object
Mechanical arm is to the suitable grip of target object.The dynamics of the target object size to be suitble to complete the crawl to target object.
After mechanical arm obtains the first image information of target object at first position in the embodiment that the application provides, press
The second image information of second position acquisition target object is moved to according to preset rules, is determined according to the first and second image informations
The three-dimensional geometric shapes of the shape of target object, when the three-dimensional geometric shapes of target object are regular geometric figure, direct root
The crawl position to target object is determined according to the geometric center of regular geometric figure；If the three-dimensional geometric shapes are irregular several
What figure then determines the crawl position of target object according to the characteristic point of irregular figure.According in different positions during this
The image information for the target object that place obtains is put, the three-dimensional geometric shapes of its shape is determined, improves the target object detected
Shape accuracy；Crawl position is determined using different methods to the target object of different shapes, so as to according to target
Object unique characteristics fast and accurately find suitable crawl position, improve the probability that mechanical arm successfully captures.
Embodiment two：
Corresponding to the detection method of the crawl position described in foregoing embodiments, Fig. 3 shows provided by the embodiments of the present application
The structure diagram of the detection device of crawl position for convenience of description, illustrates only and the relevant part of the embodiment of the present application.
With reference to Fig. 3, the detection device of the crawl position includes：Image information acquisition module 31, three-dimensional geometric shapes determine
Module 32, crawl position determining module 33, wherein：
Image information acquisition module 31, for mechanical arm to be made to obtain the first image letter of target object at first position
Breath；It is additionally operable to according to the second image information that the target object is obtained after preset rules mobile mechanical arm to the second place；
Three-dimensional geometric shapes determining module 32, for being determined according to described first image information and second image information
The three-dimensional geometric shapes of the shape of the target object；
Crawl position determining module 33, for the three-dimensional geometric shapes be regular geometric figure when, according to the rule
Then the geometric center of geometric figure determines the crawl position of the target object；It is not advise to be additionally operable in the three-dimensional geometric shapes
Then during geometric figure, at least two characteristic point of the irregular geometric figures is obtained, according to determining the characteristic point
The crawl position of target object.
Further, the mechanical arm obtains the first image information of target object at first position, including：
By the first image information for setting the binocular camera acquisition target object on the robotic arm.
Further, described image data obtaining module 31 includes：
Image information shooting unit for the distance according to the first position and target object, passes through monocular cam
The image information at left and right sides of the target object is obtained respectively；
Synthesis unit for synthesizing the image information at left and right sides of the target object, obtains described first image information.
Further, the three-dimensional geometric shapes determining module 32, including：
First acquisition unit, for obtaining the mesh respectively according to described first image information and second image information
Mark the first outline drawing and the second outline drawing of object；
Second acquisition unit, for obtaining at least two spies in first outline drawing and second outline drawing respectively
Sign point；
Extraction unit, for extracting characteristic point identical in first outline drawing and second outline drawing, according to institute
State the three-dimensional geometric shapes that identical characteristic point obtains the shape of the target object.
Further, the crawl position determining module 33, including：
Position determination unit, for obtaining the position where the geometric center of the regular geometric figure；
Central point acquiring unit, for when mechanical arm captures the target object, obtaining mechanical arm and being connect with target object
The central point for the plane geometric figure that contact is formed；
Recording unit is adjusted, for adjusting the position of contact point therebetween, until in the central point and the geometry
The line of the heart, the plane geometric figure formed perpendicular to the mechanical arm and target object contact point；Record mechanical arm at this time
Contact point with target object is the crawl position.
Further, the detection device of the crawl position, further includes：
Handling module, for according to being captured at the mechanical arm to the crawl position to the target object；
After the mechanical arm touches the target object, the deformation of the target object is detected；According to the deformation of the target object
Determine the grip of mechanical arm；The target object is captured at the crawl position with identified grip.
It is to be understood that the size of the sequence number of each step is not meant to the priority of execution sequence, each process in above-described embodiment
Execution sequence should determine that the implementation process without tackling the embodiment of the present application forms any limit with its function and internal logic
It is fixed.
Embodiment three：
Fig. 4 is the schematic diagram for the mechanical arm that one embodiment of the application provides.As shown in figure 4, the mechanical arm 4 of the embodiment wraps
It includes：Processor 40, memory 41 and it is stored in the computer that can be run in the memory 41 and on the processor 40
Program 42.The processor 40 realizes that the crawl control method of above-mentioned each mechanical arm is implemented when performing the computer program 42
Step in example, such as step S11 to S15 shown in FIG. 1.Alternatively, when the processor 40 performs the computer program 42
Realize the function of each module/unit in above-mentioned each device embodiment, such as the function of module 31 to 33 shown in Fig. 3.
Illustratively, the computer program 42 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are performed by the processor 40, to complete the application.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 42 in the mechanical arm 4 is described.For example, the computer program 42 can be divided
Into：Image information acquisition module, three-dimensional geometric shapes determining module, crawl position determining module, wherein：
Image information acquisition module, for mechanical arm to be made to obtain the first image information of target object at first position；
It is additionally operable to according to the second image information that the target object is obtained after preset rules mobile mechanical arm to the second place；
Three-dimensional geometric shapes determining module, for determining institute according to described first image information and second image information
State the three-dimensional geometric shapes of the shape of target object；
Crawl position determining module, for the three-dimensional geometric shapes be regular geometric figure when, according to the rule
The geometric center of geometric figure determines the crawl position of the target object；It is irregular to be additionally operable in the three-dimensional geometric shapes
During geometric figure, at least two characteristic point of the irregular geometric figures is obtained, the mesh is determined according to the characteristic point
Mark the crawl position of object.
Further, the three-dimensional geometric shapes determining module, including：
First acquisition unit, for obtaining the mesh respectively according to described first image information and second image information
Mark the first outline drawing and the second outline drawing of object；
Second acquisition unit, for obtaining at least two spies in first outline drawing and second outline drawing respectively
Sign point；
Extraction unit, for extracting characteristic point identical in first outline drawing and second outline drawing, according to institute
State the three-dimensional geometric shapes that identical characteristic point obtains the shape of the target object.
Further, the crawl position determining module 33, including：
Position determination unit, for obtaining the position where the geometric center of the regular geometric figure；
Central point acquiring unit, for when mechanical arm captures the target object, obtaining mechanical arm and being connect with target object
The central point for the plane geometric figure that contact is formed；
Recording unit is adjusted, for adjusting the position of contact point therebetween, until in the central point and the geometry
The line of the heart, the plane geometric figure formed perpendicular to the mechanical arm and target object contact point；Record mechanical arm at this time
Contact point with target object is the crawl position.
Further, the detection device of the crawl position, further includes：
Handling module, for according to being captured at the mechanical arm to the crawl position to the target object；
After the mechanical arm touches the target object, the deformation of the target object is detected；According to the deformation of the target object
Determine the grip of mechanical arm；The target object is captured at the crawl position with identified grip.
Further, the mechanical arm obtains the first image information of target object at first position, including：
By the first image information for setting the binocular camera acquisition target object on the robotic arm.
Further, image information acquisition module includes：
Image information shooting unit for the distance according to the first position and target object, passes through monocular cam
The image information at left and right sides of the target object is obtained respectively；
Synthesis unit for synthesizing the image information at left and right sides of the target object, obtains described first image information.
The mechanical arm may include, but be not limited only to, processor 40, memory 41.It will be understood by those skilled in the art that
Fig. 4 is only the example of mechanical arm 4, does not form the restriction to mechanical arm 4, can be included than illustrating more or fewer portions
Part either combines some components or different components, such as the mechanical arm can also include input-output equipment, network
Access device, bus etc..
Alleged processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), application-specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor can also be any conventional processor
Deng.
The memory 41 can be the internal storage unit of the mechanical arm 4, such as the hard disk or memory of mechanical arm 4.
The memory 41 can also be the External memory equipment of the mechanical arm 4, such as the plug-in type being equipped on the mechanical arm 4 is hard
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 41 can also both include the internal storage unit of the mechanical arm 4 or wrap
Include External memory equipment.The memory 41 is used to store the computer program and other programs needed for the mechanical arm
And data.The memory 41 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each work(
Can unit, module division progress for example, in practical application, can be as needed and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of described device are divided into different functional units or module, more than completion
The all or part of function of description.Each functional unit, module in embodiment can be integrated in a processing unit, also may be used
To be that unit is individually physically present, can also two or more units integrate in a unit, it is above-mentioned integrated
The form that hardware had both may be employed in unit is realized, can also be realized in the form of SFU software functional unit.In addition, each function list
Member, the specific name of module are not limited to the protection domain of the application also only to facilitate mutually distinguish.Above system
The specific work process of middle unit, module may be referred to the corresponding process in preceding method embodiment, and details are not described herein.
In the above-described embodiments, all emphasize particularly on different fields to the description of each embodiment, be not described in detail or remember in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may realize that each exemplary lists described with reference to the embodiments described herein
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is performed with hardware or software mode, specific application and design constraint depending on technical solution.Professional technician
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
Scope of the present application.
In embodiment provided herein, it should be understood that disclosed device/terminal device and method, it can be with
It realizes by another way.For example, device described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, is only a kind of division of logic function, there can be other dividing mode in actual implementation, such as
Multiple units or component may be combined or can be integrated into another system or some features can be ignored or does not perform.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be by some interfaces, device
Or the INDIRECT COUPLING of unit or communication connection, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical location, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the application can be integrated in a processing unit, it can also
That unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
The form that hardware had both may be employed in member is realized, can also be realized in the form of SFU software functional unit.
If the integrated module/unit realized in the form of SFU software functional unit and be independent production marketing or
In use, it can be stored in a computer read/write memory medium.Based on such understanding, the application realizes above-mentioned implementation
All or part of flow in example method, can also instruct relevant hardware to complete, the meter by computer program
Calculation machine program can be stored in a computer readable storage medium, the computer program when being executed by processor, it can be achieved that on
The step of stating each embodiment of the method..Wherein, the computer program includes computer program code, the computer program
Code can be source code form, object identification code form, executable file or some intermediate forms etc..Computer-readable Jie
Matter can include：Can carry the computer program code any entity or device, recording medium, USB flash disk, mobile hard disk,
Magnetic disc, CD, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM,
Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It is it should be noted that described
The content that computer-readable medium includes can carry out appropriate increasing according to legislation in jurisdiction and the requirement of patent practice
Subtract, such as in some jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and
Telecommunication signal.
Embodiment described above is only to illustrate the technical solution of the application, rather than its limitations；Although with reference to foregoing reality
Example is applied the application is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to foregoing each
Technical solution recorded in embodiment modifies or carries out equivalent substitution to which part technical characteristic；And these are changed
Or replace, the essence of appropriate technical solution is not made to depart from the spirit and scope of each embodiment technical solution of the application, it should all
Within the protection domain of the application.
Claims (10)
1. a kind of detection method of crawl position, which is characterized in that the detection method of the crawl position includes：
Mechanical arm obtains the first image information of target object at first position；
According to the second image information that the target object is obtained after preset rules mobile mechanical arm to the second place；
The three-dimensional geometry figure of the shape of the target object is determined according to described first image information and second image information
Shape；
If the three-dimensional geometric shapes are regular geometric figure, according to determining the geometric center of the regular geometric figure
The crawl position of target object；
If the three-dimensional geometric shapes are irregular geometric figures, at least two spy of the irregular geometric figures is obtained
Point is levied, the crawl position of the target object is determined according to the characteristic point.
2. the detection method of crawl position as described in claim 1, which is characterized in that described according to described first image information
The three-dimensional geometric shapes of the shape of the target object are determined with second image information, including：
According to described first image information and second image information obtain respectively the target object the first outline drawing and
Second outline drawing；
At least two characteristic points in first outline drawing and second outline drawing are obtained respectively；
Characteristic point identical in first outline drawing and second outline drawing is extracted, is obtained according to the identical characteristic point
The three-dimensional geometric shapes of the shape of the target object.
3. the detection method of crawl position as described in claim 1, which is characterized in that described according to the regular geometric figure
Geometric center determine the crawl position of the target object, including：
Obtain the position where the geometric center of the regular geometric figure；
When mechanical arm captures the target object, the plane geometric figure that mechanical arm is formed with target object contact point is obtained
Central point；
The position of contact point therebetween is adjusted, until the central point and the line of the geometric center, perpendicular to the machine
The plane geometric figure that tool arm is formed with target object contact point；
The contact point of mechanical arm and target object is the crawl position to record at this time.
4. the detection method of crawl position as described in claim 1, which is characterized in that the mechanical arm obtains at first position
The first image information of target object is taken, is further included：
According to the first position and the distance of target object, described target object or so two is obtained respectively by monocular-camera
The image information of side；
The image information at left and right sides of the target object is synthesized, obtains described first image information.
5. the detection method of crawl position as described in claim 1, which is characterized in that the detection method of the crawl position is also
Including：
According to being captured at the mechanical arm to the crawl position to the target object；
After the mechanical arm touches the target object, the deformation of the target object is detected；
The grip of mechanical arm is determined according to the deformation of the target object；
The target object is captured at the crawl position with identified grip.
6. a kind of detection device of crawl position, which is characterized in that the detection device of the crawl position includes：
Image information acquisition module, for mechanical arm to be made to obtain the first image information of target object at first position；Also use
The second image information of the target object is obtained after according to preset rules mobile mechanical arm to the second place；
Three-dimensional geometric shapes determining module, for determining the mesh according to described first image information and second image information
Mark the three-dimensional geometric shapes of the shape of object；
Crawl position determining module, for the three-dimensional geometric shapes be regular geometric figure when, according to the regular geometric
The geometric center of figure determines the crawl position of the target object；It is irregular geometry to be additionally operable in the three-dimensional geometric shapes
During figure, at least two characteristic point of the irregular geometric figures is obtained, the object is determined according to the characteristic point
The crawl position of body.
7. the detection device of crawl position as claimed in claim 6, which is characterized in that the three-dimensional geometric shapes determine mould
Block, including：
First acquisition unit, for obtaining the object respectively according to described first image information and second image information
The first outline drawing and the second outline drawing of body；
Second acquisition unit, for obtaining at least two features in first outline drawing and second outline drawing respectively
Point；
Extraction unit, for extracting characteristic point identical in first outline drawing and second outline drawing, according to the phase
Same characteristic point obtains the three-dimensional geometric shapes of the shape of the target object.
8. the detection device of crawl position as claimed in claim 6, which is characterized in that the detection device of the crawl position,
It further includes：
Handling module, for according to being captured at the mechanical arm to the crawl position to the target object；Described
After mechanical arm touches the target object, the deformation of the target object is detected；It is determined according to the deformation of the target object
The grip of mechanical arm；The target object is captured at the crawl position with identified grip.
9. a kind of mechanical arm, including memory, processor and it is stored in the memory and can transports on the processor
Capable computer program, which is characterized in that the processor realizes such as claim 1 to 5 times when performing the computer program
The step of one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of realization such as any one of claim 1 to 5 the method.
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