CN112058679A - 基于阻抗控制的柔软农产品机器人抓取分拣方法及装置 - Google Patents
基于阻抗控制的柔软农产品机器人抓取分拣方法及装置 Download PDFInfo
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- CN112058679A CN112058679A CN202010804920.4A CN202010804920A CN112058679A CN 112058679 A CN112058679 A CN 112058679A CN 202010804920 A CN202010804920 A CN 202010804920A CN 112058679 A CN112058679 A CN 112058679A
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- robot
- claw
- soft
- agricultural products
- impedance control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
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- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- A—HUMAN NECESSITIES
- A23—FOODS OR FOODSTUFFS; TREATMENT THEREOF, NOT COVERED BY OTHER CLASSES
- A23N—MACHINES OR APPARATUS FOR TREATING HARVESTED FRUIT, VEGETABLES OR FLOWER BULBS IN BULK, NOT OTHERWISE PROVIDED FOR; PEELING VEGETABLES OR FRUIT IN BULK; APPARATUS FOR PREPARING ANIMAL FEEDING- STUFFS
- A23N15/00—Machines or apparatus for other treatment of fruits or vegetables for human purposes; Machines or apparatus for topping or skinning flower bulbs
- A23N2015/008—Sorting of fruit and vegetables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/009—Sorting of fruit
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
- G06T2207/30208—Marker matrix
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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Food Science & Technology (AREA)
- Polymers & Plastics (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN202010804920.4A CN112058679A (zh) | 2020-08-11 | 2020-08-11 | 基于阻抗控制的柔软农产品机器人抓取分拣方法及装置 |
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CN202010804920.4A CN112058679A (zh) | 2020-08-11 | 2020-08-11 | 基于阻抗控制的柔软农产品机器人抓取分拣方法及装置 |
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CN112058679A true CN112058679A (zh) | 2020-12-11 |
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CN202010804920.4A Pending CN112058679A (zh) | 2020-08-11 | 2020-08-11 | 基于阻抗控制的柔软农产品机器人抓取分拣方法及装置 |
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CN (1) | CN112058679A (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113894058A (zh) * | 2021-09-06 | 2022-01-07 | 东莞职业技术学院 | 基于深度学习的品质检测与分拣方法、系统及存储介质 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09131575A (ja) * | 1995-11-10 | 1997-05-20 | Kubota Corp | 物品の選別装置 |
CN104584780A (zh) * | 2015-01-23 | 2015-05-06 | 桂林电子科技大学 | 一种用于检测果实成熟度及采摘的柔性机械手 |
CN208584552U (zh) * | 2018-01-15 | 2019-03-08 | 王楚天 | 一种柔性抓取装置和机器人 |
CN109829953A (zh) * | 2019-02-27 | 2019-05-31 | 广东拓斯达科技股份有限公司 | 图像采集装置标定方法、装置、计算机设备和存储介质 |
CN109848998A (zh) * | 2019-03-29 | 2019-06-07 | 砚山永盛杰科技有限公司 | 一种用于3c行业视觉柔性的四轴机器人 |
CN109961485A (zh) * | 2019-03-05 | 2019-07-02 | 南京理工大学 | 一种基于单目视觉进行目标定位的方法 |
CN110539297A (zh) * | 2019-08-21 | 2019-12-06 | 长春工程学院 | 一种3d视觉引导的轮对配盘机械手定位方法及装置 |
CN210059040U (zh) * | 2018-12-03 | 2020-02-14 | 广东技术师范大学 | 一种基于rgb水果分类装置 |
CN211134666U (zh) * | 2019-08-02 | 2020-07-31 | 武汉库柏特科技有限公司 | 一种分拣机器人及机器人分拣系统 |
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2020
- 2020-08-11 CN CN202010804920.4A patent/CN112058679A/zh active Pending
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09131575A (ja) * | 1995-11-10 | 1997-05-20 | Kubota Corp | 物品の選別装置 |
CN104584780A (zh) * | 2015-01-23 | 2015-05-06 | 桂林电子科技大学 | 一种用于检测果实成熟度及采摘的柔性机械手 |
CN208584552U (zh) * | 2018-01-15 | 2019-03-08 | 王楚天 | 一种柔性抓取装置和机器人 |
CN210059040U (zh) * | 2018-12-03 | 2020-02-14 | 广东技术师范大学 | 一种基于rgb水果分类装置 |
CN109829953A (zh) * | 2019-02-27 | 2019-05-31 | 广东拓斯达科技股份有限公司 | 图像采集装置标定方法、装置、计算机设备和存储介质 |
CN109961485A (zh) * | 2019-03-05 | 2019-07-02 | 南京理工大学 | 一种基于单目视觉进行目标定位的方法 |
CN109848998A (zh) * | 2019-03-29 | 2019-06-07 | 砚山永盛杰科技有限公司 | 一种用于3c行业视觉柔性的四轴机器人 |
CN211134666U (zh) * | 2019-08-02 | 2020-07-31 | 武汉库柏特科技有限公司 | 一种分拣机器人及机器人分拣系统 |
CN110539297A (zh) * | 2019-08-21 | 2019-12-06 | 长春工程学院 | 一种3d视觉引导的轮对配盘机械手定位方法及装置 |
Non-Patent Citations (5)
Title |
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朱福康等: "基于RGB-D图像的机器人无标定视觉定位", 《计算机集成制造系统》 * |
朱福康等: "基于RGB-D图像的机器人无标定视觉定位", 《计算机集成制造系统》, vol. 25, no. 8, 31 August 2019 (2019-08-31), pages 2007 - 2015 * |
蒋志宏: "《机器人学基础》", 30 April 2018, pages: 142 - 147 * |
金翰林: "基于视觉的机械臂目标抓取研究 ", 《机械工程与自动化》 * |
金翰林: "基于视觉的机械臂目标抓取研究 ", 《机械工程与自动化》, no. 04, 19 July 2018 (2018-07-19), pages 33 - 37 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113894058A (zh) * | 2021-09-06 | 2022-01-07 | 东莞职业技术学院 | 基于深度学习的品质检测与分拣方法、系统及存储介质 |
CN113894058B (zh) * | 2021-09-06 | 2024-03-01 | 东莞职业技术学院 | 基于深度学习的品质检测与分拣方法、系统及存储介质 |
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Effective date of registration: 20210125 Address after: 401120 Yubei District, Chongqing Shuangfeng bridge airport development zone, Xiangyu Road, No. 15, 2. Applicant after: Chongqing Jianmang Information Technology Consulting Service Co.,Ltd. Address before: 430040 No. 2f-w26, 27, 28, 29 and 30, floor 1-2, exhibition center, phase 1.1, background service center base construction project of financial port, 77 Guanggu Avenue, Donghu New Technology Development Zone, Wuhan City, Hubei Province Applicant before: Wuhan wanbangde New Technology Co.,Ltd. |
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Application publication date: 20201211 |