CN114012722B - 一种基于深度学习和边缘检测的机械臂抓取目标方法 - Google Patents
一种基于深度学习和边缘检测的机械臂抓取目标方法 Download PDFInfo
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- CN114012722B CN114012722B CN202111281110.6A CN202111281110A CN114012722B CN 114012722 B CN114012722 B CN 114012722B CN 202111281110 A CN202111281110 A CN 202111281110A CN 114012722 B CN114012722 B CN 114012722B
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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
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/163—Programme controls characterised by the control loop learning, adaptive, model based, rule based expert control
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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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/25—Fusion techniques
- G06F18/251—Fusion techniques of input or preprocessed data
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/90—Determination of colour characteristics
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CN202111281110.6A CN114012722B (zh) | 2021-11-01 | 2021-11-01 | 一种基于深度学习和边缘检测的机械臂抓取目标方法 |
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WO2017151926A1 (en) * | 2016-03-03 | 2017-09-08 | Google Inc. | Deep machine learning methods and apparatus for robotic grasping |
CN110014426B (zh) * | 2019-03-21 | 2020-10-02 | 同济大学 | 一种利用低精度深度相机高精度抓取形状对称工件的方法 |
CN111079561B (zh) * | 2019-11-26 | 2023-05-26 | 华南理工大学 | 一种基于虚拟训练的机器人智能抓取方法 |
CN112906797B (zh) * | 2021-02-25 | 2024-01-12 | 华北电力大学 | 一种基于计算机视觉和深度学习的平面抓取检测方法 |
CN112884825B (zh) * | 2021-03-19 | 2022-11-04 | 清华大学 | 基于深度学习模型的抓取方法及装置 |
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Application publication date: 20220208 Assignee: Suzhou Jiacai Electronics Co.,Ltd. Assignor: Suzhou Kede Software Circuit Board Co.,Ltd. Contract record no.: X2023990000626 Denomination of invention: A Method for Robot Arm Grasping Objects Based on Deep Learning and Edge Detection Granted publication date: 20230530 License type: Common License Record date: 20230630 |
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Application publication date: 20220208 Assignee: Suzhou Jiacai Electronics Co.,Ltd. Assignor: Suzhou Kede Software Circuit Board Co.,Ltd. Contract record no.: X2023990000667 Denomination of invention: A Method for Robot Arm Grasping Objects Based on Deep Learning and Edge Detection Granted publication date: 20230530 License type: Common License Record date: 20230630 |