EA201990572A1 - METHOD AND SYSTEM OF OBJECT CAPTURE USING A ROBOTIC DEVICE - Google Patents
METHOD AND SYSTEM OF OBJECT CAPTURE USING A ROBOTIC DEVICEInfo
- Publication number
- EA201990572A1 EA201990572A1 EA201990572A EA201990572A EA201990572A1 EA 201990572 A1 EA201990572 A1 EA 201990572A1 EA 201990572 A EA201990572 A EA 201990572A EA 201990572 A EA201990572 A EA 201990572A EA 201990572 A1 EA201990572 A1 EA 201990572A1
- Authority
- EA
- Eurasian Patent Office
- Prior art keywords
- robotic device
- gripping
- objects
- robotic
- point
- Prior art date
Links
Classifications
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/02—Neural networks
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Evolutionary Computation (AREA)
- Automation & Control Theory (AREA)
- Artificial Intelligence (AREA)
- Software Systems (AREA)
- Mathematical Physics (AREA)
- General Physics & Mathematics (AREA)
- Computing Systems (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Computational Linguistics (AREA)
- Biophysics (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Health & Medical Sciences (AREA)
- Fuzzy Systems (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Image Analysis (AREA)
- Manipulator (AREA)
Abstract
Заявленное изобретение в общем относится к области робототехнических устройств, а в частности к способам и системам для обеспечения захвата различных объектов с помощью роботизированных устройств. Способ захвата объекта с помощью роботизированного устройства содержит этапы, на которых обучают роботизированное устройство с помощью по меньшей мере одного алгоритма машинного обучения для распознавания и запоминания точек захвата объектов, причем обучение выполняется на данных, характеризующих фотографические изображения объектов и соответствующие 3D модели объектов в различных ракурсах; формируют по меньшей мере одну точку захвата объекта, представленного на графическом изображении объекта; получают фотографическое изображение объекта с помощью камеры роботизированного устройства и определяют ракурс, отображающий сформированную точку захвата объекта; получают трехмерное облако точек объекта в выявленном ракурсе с помощью сенсора глубины роботизированного устройства; определяют по полученному облаку точек месторасположение точки захвата объекта; определяют ориентацию и положение захватного устройства роботизированного устройства в обнаруженной точке захвата, причем определение осуществляется с помощью вычисления матриц поворотов роботизированного устройства; осуществляют захват объекта с помощью роботизированного устройства на основании вычисления усредненной матрицы поворотов для заданной точки захвата. Технический результат - повышение точности распознавания области захвата объекта роботизированным устройством за счет определения ориентации захватного устройства на основании расчета матрицы поворотов для цели захвата объекта в требуемой точке захвата.The claimed invention generally relates to the field of robotic devices, and in particular to methods and systems for providing the capture of various objects using robotic devices. A method for capturing an object using a robotic device comprises the stages at which a robotic device is trained using at least one machine learning algorithm for recognizing and memorizing the capture points of objects, and the training is performed on data characterizing photographic images of objects and corresponding 3D models of objects in various angles ; form at least one gripping point of the object represented on the graphical image of the object; obtaining a photographic image of the object using the camera of the robotic device and determining the angle displaying the formed gripping point of the object; obtaining a three-dimensional cloud of points of the object in the identified perspective using the depth sensor of the robotic device; determine by the obtained cloud of points the location of the point of capture of the object; determining the orientation and position of the gripping device of the robotic device at the detected gripping point, and the determination is carried out by calculating the matrices of rotations of the robotic device; the object is gripped by a robotic device based on the calculation of the averaged rotation matrix for a given gripping point. The technical result is an increase in the accuracy of recognition of the object gripping area by a robotic device by determining the orientation of the gripping device based on the calculation of the rotation matrix for the purpose of gripping the object at the desired gripping point.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| RU2019108223A RU2700246C1 (en) | 2019-03-21 | 2019-03-21 | Method and system for capturing an object using a robot device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EA201990572A1 true EA201990572A1 (en) | 2020-09-30 |
| EA038279B1 EA038279B1 (en) | 2021-08-04 |
Family
ID=67990035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EA201990572A EA038279B1 (en) | 2019-03-21 | 2019-03-22 | Method and system for grasping an object by means of a robotic device |
Country Status (3)
| Country | Link |
|---|---|
| EA (1) | EA038279B1 (en) |
| RU (1) | RU2700246C1 (en) |
| WO (1) | WO2020190166A1 (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2756437C1 (en) * | 2020-09-03 | 2021-09-30 | Публичное Акционерное Общество "Сбербанк России" (Пао Сбербанк) | Method and system for planning the movement of a manipulator robot by correcting the reference trajectories |
| RU2745380C1 (en) * | 2020-09-03 | 2021-03-24 | Публичное Акционерное Общество "Сбербанк России" (Пао Сбербанк) | Method and system for capturing objects using robotic device |
| CN112884825B (en) * | 2021-03-19 | 2022-11-04 | 清华大学 | Deep learning model-based grabbing method and device |
| CN113012800A (en) * | 2021-04-19 | 2021-06-22 | 联仁健康医疗大数据科技股份有限公司 | Multipurpose clamping method, multipurpose clamping system, medical robot and storage medium |
| CN113753562B (en) * | 2021-08-24 | 2023-07-25 | 深圳市长荣科机电设备有限公司 | Linear motor-based carrying method, system, device and storage medium |
| CN114125416B (en) * | 2021-10-13 | 2024-03-19 | 厦门微图软件科技有限公司 | Three-dimensional detection platform software and device based on machine learning and deep learning |
| EP4177013A1 (en) * | 2021-11-04 | 2023-05-10 | Vathos GmbH | Control of an industrial robot for a gripping task |
| CN116197886A (en) * | 2021-11-28 | 2023-06-02 | 梅卡曼德（北京）机器人科技有限公司 | Image data processing method, device, electronic equipment and storage medium |
| CN114474108B (en) * | 2022-01-13 | 2024-01-16 | 湖南中南智能装备有限公司 | Method for controlling robot through linkage of USB control handles |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006007390A (en) * | 2004-06-29 | 2006-01-12 | Sharp Corp | Imaging device, imaging method, imaging program, and computer-readable recording medium having the imaging program recorded thereon |
| FI20105732A0 (en) * | 2010-06-24 | 2010-06-24 | Zenrobotics Oy | Procedure for selecting physical objects in a robotic system |
| FI20106387A (en) * | 2010-12-30 | 2012-07-01 | Zenrobotics Oy | Method, computer program and device for determining the site of infection |
| US9002098B1 (en) * | 2012-01-25 | 2015-04-07 | Hrl Laboratories, Llc | Robotic visual perception system |
| US10335951B2 (en) * | 2015-07-29 | 2019-07-02 | Canon Kabushiki Kaisha | Information processing apparatus, information processing method, robot control apparatus, and robot system |
| RU2674326C2 (en) * | 2017-02-20 | 2018-12-06 | Автономная некоммерческая образовательная организация высшего образования "Сколковский институт науки и технологий" | Method of formation of neural network architecture for classification of object taken in cloud of points, method of its application for teaching neural network and searching semantically alike clouds of points |
-
2019
- 2019-03-21 WO PCT/RU2019/000178 patent/WO2020190166A1/en active Application Filing
- 2019-03-21 RU RU2019108223A patent/RU2700246C1/en active
- 2019-03-22 EA EA201990572A patent/EA038279B1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| EA038279B1 (en) | 2021-08-04 |
| RU2700246C1 (en) | 2019-09-20 |
| WO2020190166A1 (en) | 2020-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EA201990572A1 (en) | METHOD AND SYSTEM OF OBJECT CAPTURE USING A ROBOTIC DEVICE | |
| US11727593B1 (en) | Automated data capture | |
| CN109255813B (en) | Man-machine cooperation oriented hand-held object pose real-time detection method | |
| JP2019087229A5 (en) | ||
| US9576368B2 (en) | Method and device for optically determining a position and/or orientation of an object in space using a two dimensional image to generate three dimensional information | |
| JP2019063984A5 (en) | Information processing device and information processing method | |
| JP2014063475A5 (en) | ||
| JP6836561B2 (en) | Image processing device and image processing method | |
| JP2015090298A5 (en) | ||
| CN109099889B (en) | Close-range photogrammetry system and method | |
| RU2015119032A (en) | METHOD FOR PROCESSING LOCATION DATA | |
| JP2014211404A (en) | Motion capture method | |
| JPWO2019204118A5 (en) | ||
| JPWO2021002025A5 (en) | Skeletal recognition method, skeletal recognition program and skeletal recognition system | |
| WO2022095514A1 (en) | Image detection method and apparatus, electronic device, and storage medium | |
| WO2022021156A1 (en) | Method and apparatus for robot to grab three-dimensional object | |
| JP2019124539A5 (en) | ||
| JP6626338B2 (en) | Information processing apparatus, control method for information processing apparatus, and program | |
| JP2014238727A5 (en) | ||
| JP6410231B2 (en) | Alignment apparatus, alignment method, and computer program for alignment | |
| CN104166995A (en) | Harris-SIFT binocular vision positioning method based on horse pace measurement | |
| JP2020149186A (en) | Position attitude estimation device, learning device, mobile robot, position attitude estimation method, and learning method | |
| JP2021128592A5 (en) | ||
| KR102410300B1 (en) | Apparatus for measuring position of camera using stereo camera and method using the same | |
| JP2018106611A5 (en) |