CN107127773A - A kind of method that robot captures article - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
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- B25J11/008—Manipulators for service tasks
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Abstract
本发明公开了一种机器人抓取物品的方法，所述方法包括：获取所述机器人的第一位置和所述物品的第二位置，其中所述第一位置和所述第二位置来自于Kinect红外设备；根据所述第一位置和所述第二位置，获得所述机器人到所述物品的第一运动轨迹；根据所述第一运动轨迹，获得目标位置，以使所述机器人运动至所述目标位置以抓取所述物品。本发明提供的抓取物品的方法实现了提高物品定位的准确性，从而更为准确地抓取物品、扩大机器人使用的场景和范围的技术效果，解决了现有技术中利用机器人自身视觉进行定位的方法存在定位精度较低、不适用于光线较暗的环境的技术问题。
The invention discloses a method for a robot to grab an item. The method includes: acquiring a first position of the robot and a second position of the item, wherein the first position and the second position are obtained from Kinect Infrared equipment; according to the first position and the second position, obtain a first motion track from the robot to the item; according to the first motion track, obtain a target position, so that the robot moves to the object the target location to grab the item. The method for grabbing items provided by the present invention improves the accuracy of item positioning, thereby more accurately grabbing items, expanding the technical effect of the scene and scope of use of the robot, and solving the problem of using the robot's own vision for positioning in the prior art The method has the technical problems of low positioning accuracy and is not suitable for environments with low light.
Description
技术领域technical field
本发明涉及智能服务机器人技术领域，尤其涉及一种机器人抓取物品的方法。The invention relates to the technical field of intelligent service robots, in particular to a method for a robot to grab objects.
背景技术Background technique
随着人工智能技术的发展，智能服务机器人被广泛应用于各种家庭服务中，在智能家居的环境下，机器人可以接收人发出的指令，对需要的物品进行抓取和传送。With the development of artificial intelligence technology, intelligent service robots are widely used in various home services. In a smart home environment, robots can receive instructions from people to grab and deliver needed items.
现有技术中，利用机器人抓取物品方法，一般都是通过机器人本体的摄像机，或者外接摄像头来对物品进行定位，从而实现物品的抓取。In the prior art, the method of using a robot to grab an item generally uses a camera on the robot body or an external camera to locate the item, so as to realize the grabbing of the item.
本申请发明人在实现本发明的技术方案时，发现现有技术中至少存在如下问题：When the inventor of the present application realized the technical solution of the present invention, he found that at least the following problems existed in the prior art:
现有通过机器人本体的摄像机来对物品进行定位的方法，对于光线的要求比较高，仅适用于白天或者光线适宜的地方，对于夜晚或者光线较暗时，无法进行定位，例如对于没有生活自理能力的残疾人来说，在夜晚喝水或者取药品极不方便。并且机器人本身自带的摄像机一般是依靠自身视觉进行定位，精度比较低，对物体的定位并不精确，误差比较大。The existing method of locating objects through the camera of the robot body has relatively high requirements for light, and is only suitable for daytime or places with suitable light. It cannot be positioned at night or when the light is dark, for example, for those who do not have the ability to take care of themselves For disabled people, it is extremely inconvenient to drink water or get medicine at night. Moreover, the camera that comes with the robot itself generally relies on its own vision for positioning, which has relatively low precision, and the positioning of objects is not accurate, and the error is relatively large.
可见，现有技术中的利用机器人自身视觉进行定位的方法存在定位精度较低、不适用于光线较暗的环境的问题，因此，如何提高定位精度实现更加准确地抓取物品，真正实现智能家居，是重要的课题。It can be seen that the positioning method using the robot's own vision in the prior art has the problems of low positioning accuracy and is not suitable for environments with low light. Therefore, how to improve the positioning accuracy to grasp objects more accurately and truly realize smart home , is an important subject.
发明内容Contents of the invention
本发明实施例提供一种机器人抓取物品的方法，用以解决现有技术中利用机器人自身视觉进行定位的方法存在定位精度较低、不适用于光线较暗的环境的技术问题。An embodiment of the present invention provides a method for a robot to grab an object, which is used to solve the technical problems that the positioning method using the robot's own vision in the prior art has low positioning accuracy and is not suitable for environments with low light.
第一方面，本发明公开了一种机器人抓取物品的方法，所述方法包括：In a first aspect, the present invention discloses a method for a robot to grab an item, the method comprising:
获取所述机器人的第一位置和所述物品的第二位置，其中所述第一位置和所述第二位置来自于Kinect红外设备；Obtain the first position of the robot and the second position of the item, wherein the first position and the second position are from the Kinect infrared device;
根据所述第一位置和所述第二位置，获得所述机器人到所述物品的第一运动轨迹；Obtaining a first motion trajectory from the robot to the item according to the first position and the second position;
根据所述第一运动轨迹，获得目标位置，以使所述机器人运动至所述目标位置以抓取所述物品。According to the first movement trajectory, a target position is obtained, so that the robot moves to the target position to grab the object.
可选地，在所述根据所述第一运动轨迹，获得目标位置之前，还包括：Optionally, before said obtaining the target position according to said first motion trajectory, further comprising:
根据所述第一运动轨迹，获得第三位置，其中，第三位置与目标位置可以为不同的位置；Obtaining a third position according to the first movement trajectory, where the third position and the target position may be different positions;
可选地，在根据所述第一运动轨迹，获得目标位置之前，还包括：Optionally, before obtaining the target position according to the first motion trajectory, the method further includes:
判断所述第一运动轨迹上是否存在障碍物；judging whether there is an obstacle on the first trajectory;
如果存在，则获得重新规划得到第二运动轨迹以使所述机器人避开所述障碍物；If it exists, obtain a second motion trajectory by re-planning so that the robot avoids the obstacle;
如果不存在，则根据所述第一运动轨迹进行运动。If it does not exist, then move according to the first movement track.
可选地，在根据所述第一运动轨迹，获得目标位置之后，还包括：Optionally, after the target position is obtained according to the first motion trajectory, the method further includes:
判断所述目标位置是否在误差范围内；judging whether the target position is within an error range;
如果是，则利用机器人的左手或右手抓取所述物品；If so, grab said item with the robot's left or right hand;
如果否，则获得重新规划的第三运动轨迹以使所述机器人到达所述相应的目标位置。If not, a replanned third motion trajectory is obtained to enable the robot to reach the corresponding target position.
可选地，在根据所述第一运动轨迹，获得目标位置之后，还包括：Optionally, after the target position is obtained according to the first motion trajectory, the method further includes:
根据所述目标位置和所述第二位置，判断机器人的位置和姿态是否为抓取的最佳状态。According to the target position and the second position, it is judged whether the position and posture of the robot are in an optimal grasping state.
可选地，所述第一位置包括所述机器人的三维坐标，所述第二位置包括所述物品的三维坐标。Optionally, the first position includes the three-dimensional coordinates of the robot, and the second position includes the three-dimensional coordinates of the item.
可选地，所述第一运动轨迹包括机器人的行走方向和距离。Optionally, the first motion trajectory includes the walking direction and distance of the robot.
所述机器人运动至所述目标位置以抓取所述物品时，根据逆运动学原理确定机械手末端的位姿。When the robot moves to the target position to grab the object, the pose of the end of the manipulator is determined according to the principle of inverse kinematics.
基于同样的发明构思，本发明还提供了一种机器人抓取物品的方法，所述方法包括：Based on the same inventive concept, the present invention also provides a method for a robot to grab an item, the method comprising:
Kinect红外设备获取所述机器人的第一位置和所述物品的第二位置；The Kinect infrared device obtains the first position of the robot and the second position of the item;
将所述第一位置和所述第二位置发送至所述机器人，以使所述机器人根据所述第一位置和所述第二位置获得目标位置从而抓取所述物品。The first position and the second position are sent to the robot, so that the robot obtains a target position according to the first position and the second position to grab the object.
可选地，所述Kinect红外设备获取所述机器人的第一位置和所述物品的第二位置，包括：Optionally, the Kinect infrared device acquires the first position of the robot and the second position of the item, including:
获取空间深度图像；Obtain a spatial depth image;
根据所述空间深度图像，获取像素坐标和深度坐标；Obtain pixel coordinates and depth coordinates according to the spatial depth image;
根据所述像素坐标和深度坐标，获取所述机器人的第一位置和所述物品的第二位置。Obtain the first position of the robot and the second position of the object according to the pixel coordinates and the depth coordinates.
本发明实施例中提供的一个或多个技术方案，至少具有如下技术效果或优点：One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
本申请实施例提供的一种机器人抓取物品的方法，机器人通过获取Kinect红外设备的机器人的第一位置和所述物品的第二位置，并根据所述第一位置和所述第二位置，获得所述机器人到所述物品的第一运动轨迹；然后根据所述第一运动轨迹获得目标位置，所述机器人运动至所述目标位置以抓取所述物品。由于Kinect红外设备获取可以获取准确的位置信息，并将位置信息传递给机器人，可以提高物品定位的准确性，从而更为准确地抓取物品，并且Kinect红外设备对光线没有要求，即使在黑暗的环境中依然可以使用，扩大了机器人使用的场景和范围，使得机器人可以真正做到24小时为人类服务。解决了现有技术中利用机器人自身视觉进行定位的方法存在定位精度较低、不适用于光线较暗的环境的技术问题。A method for a robot to grab an item provided in an embodiment of the present application, the robot obtains the first position of the robot of the Kinect infrared device and the second position of the item, and according to the first position and the second position, Obtaining a first motion trajectory from the robot to the object; then obtaining a target position according to the first motion trajectory, and the robot moves to the target position to grab the object. Because the Kinect infrared device can obtain accurate location information and transmit the location information to the robot, it can improve the accuracy of item positioning, so as to grasp the item more accurately, and the Kinect infrared device does not require light, even in the dark It can still be used in the environment, expanding the scenarios and scope of robot use, so that robots can truly serve humans 24 hours a day. The method solves the technical problems of low positioning accuracy and unsuitability for environments with dark light in the prior art positioning method using the robot's own vision.
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。The above description is only an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention, it can be implemented according to the contents of the description, and in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable , the specific embodiments of the present invention are enumerated below.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.
图1为本发明实施例中一种机器人抓取物品的方法的流程图；Fig. 1 is a flowchart of a method for a robot to grab an item in an embodiment of the present invention;
图2为本发明实施例中另一种机器人抓取物品的方法的流程图。Fig. 2 is a flow chart of another method for a robot to grab an object in an embodiment of the present invention.
具体实施方式detailed description
本发明实施例提供一种机器人抓取物品的方法，用以解决现有技术中利用机器人自身视觉进行定位的方法存在定位精度较低、不适用于光线较暗的环境的技术问题。实现了提高定位精度准确抓取物品，适用各种光线环境的技术效果。An embodiment of the present invention provides a method for a robot to grab an object, which is used to solve the technical problems that the positioning method using the robot's own vision in the prior art has low positioning accuracy and is not suitable for environments with low light. The technical effect of improving positioning accuracy and accurately grasping objects and being applicable to various light environments has been realized.
本申请实施例中的技术方案，总体思路如下：The general idea of the technical solution in the embodiment of the application is as follows:
一种机器人抓取物品的方法，所述方法包括：获取所述机器人的第一位置和所述物品的第二位置，其中所述第一位置和所述第二位置来自于Kinect红外设备；根据所述第一位置和所述第二位置，获得所述机器人到所述物品的第一运动轨迹；根据所述第一运动轨迹，获得目标位置，以使所述机器人运动至所述目标位置以抓取所述物品。A method for a robot to grab an item, the method comprising: obtaining a first position of the robot and a second position of the item, wherein the first position and the second position are from a Kinect infrared device; according to The first position and the second position are used to obtain a first motion trajectory from the robot to the object; according to the first motion trajectory, a target position is obtained, so that the robot moves to the target position for Grab said item.
上述方法中，机器人通过获取Kinect红外设备的机器人的第一位置和所述物品的第二位置，并根据所述第一位置和所述第二位置，获得所述机器人到所述物品的第一运动轨迹；然后根据所述第一运动轨迹获得目标位置，所述机器人运动至所述目标位置以抓取所述物品，由于Kinect红外设备获取可以获取准确的位置信息，并将位置信息传递给机器人，可以提高物品定位的准确性，从而更为准确地抓取物品，并且Kinect红外设备对光线没有要求，即使在黑暗的环境中依然可以使用，扩大了机器人使用的场景和范围，使得机器人可以真正做到24小时为人类服务。解决了现有技术中利用机器人自身视觉进行定位的方法存在定位精度较低、不适用于光线较暗的环境的技术问题。In the above method, the robot acquires the first position of the robot of the Kinect infrared device and the second position of the item, and according to the first position and the second position, obtains the first position of the robot to the item. Motion trajectory; then obtain the target position according to the first motion trajectory, the robot moves to the target position to grab the article, because the Kinect infrared device acquisition can obtain accurate position information, and the position information is passed to the robot , can improve the accuracy of object positioning, so as to grasp objects more accurately, and the Kinect infrared device does not require light, and can still be used even in a dark environment, expanding the scene and scope of the robot, so that the robot can truly To serve mankind 24 hours a day. The method solves the technical problems of low positioning accuracy and unsuitability for environments with dark light in the prior art positioning method using the robot's own vision.
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
实施例一Embodiment one
本实施例提供一种机器人抓取物品的方法，所述方法包括：This embodiment provides a method for a robot to grab an item, the method comprising:
步骤S101：获取所述机器人的第一位置和所述物品的第二位置，其中所述第一位置和所述第二位置来自于Kinect红外设备；Step S101: Acquiring the first position of the robot and the second position of the item, wherein the first position and the second position come from a Kinect infrared device;
步骤S102：根据所述第一位置和所述第二位置，获得所述机器人到所述物品的第一运动轨迹；Step S102: According to the first position and the second position, obtain a first movement trajectory from the robot to the item;
步骤S103：根据所述第一运动轨迹，获得目标位置，以使所述机器人运动至所述目标位置以抓取所述物品。Step S103: Obtain a target position according to the first movement trajectory, so that the robot moves to the target position to grab the object.
上述方法中，通过Kinect红外设备获取机器人的第一位置和所述物品的第二位置，并将上述第一位置和第二位置发送给机器人，Kinect红外设备与机器人之间建立数据连接，并且可以进行交互，Kinect红外设备获取可以获取准确的位置信息，可以提高物品定位的准确性，从而更为准确地抓取物品，并且Kinect红外设备对光线没有要求，即使在黑暗的环境中依然可以使用，扩大了机器人使用的场景和范围，使得机器人可以真正做到24小时为人类服务。解决了现有技术中利用机器人自身视觉进行定位的方法存在定位精度较低、不适用于光线较暗的环境的技术问题。In the above method, obtain the first position of the robot and the second position of the article by the Kinect infrared device, and send the above-mentioned first position and the second position to the robot, and establish a data connection between the Kinect infrared device and the robot, and can For interaction, Kinect infrared device acquisition can obtain accurate location information, which can improve the accuracy of item positioning, so as to capture items more accurately, and Kinect infrared device does not require light, and can still be used even in dark environments. The scenarios and scope of robot use have been expanded, so that robots can truly serve humans 24 hours a day. The method solves the technical problems of low positioning accuracy and unsuitability for environments with dark light in the prior art positioning method using the robot's own vision.
需要说明的是，本申请中，所述步骤S101中获取的机器人的第一位置和所述物品的第二位置顺序不分先后，并且可以同时获取，在此不做限制。It should be noted that, in this application, the first position of the robot and the second position of the item obtained in step S101 are in no particular order, and can be obtained at the same time, which is not limited here.
下面，结合图1对本申请提供的抓取物品的方法进行详细介绍：Below, in conjunction with Figure 1, the method for grabbing items provided by the present application is described in detail:
首先，执行步骤S101，获取所述机器人的第一位置和所述物品的第二位置，其中所述第一位置和所述第二位置来自于Kinect红外设备。First, step S101 is executed to obtain the first position of the robot and the second position of the object, wherein the first position and the second position come from the Kinect infrared device.
在本申请实施例中，机器人可以为NAO机器人或者其他可以机器人，Kinect红外设备可以为Kinect V2设备，机器人与Kinect红外设备建立数据连接，使得机器人可以接收Kinect红外设备发送的位置信息，其中，机器人的第一位置和所述物品的第二位置，可以包括机器人和物品的三维坐标或其他可以对机器人和物品进行定位的数据，在此不做具体限定。In the embodiment of the present application, the robot can be a NAO robot or other robots, the Kinect infrared device can be a Kinect V2 device, and the robot establishes a data connection with the Kinect infrared device, so that the robot can receive the position information sent by the Kinect infrared device, wherein the robot The first position of the object and the second position of the item may include three-dimensional coordinates of the robot and the item or other data that can position the robot and the item, which are not specifically limited here.
接下来，执行步骤步骤S102：根据所述第一位置和所述第二位置，获得所述机器人到所述物品的第一运动轨迹。Next, step S102 is performed: according to the first position and the second position, obtain a first motion trajectory from the robot to the object.
具体地，所述第一运动轨迹包括机器人的行走方向和距离。Specifically, the first motion trajectory includes the walking direction and distance of the robot.
在本申请实施例中，机器人根据第一位置和第二位置，可以进行路线规划，获得到物品的第一运动轨迹。In the embodiment of the present application, the robot can perform route planning according to the first position and the second position, and obtain the first movement track of the item.
最后，执行步骤S103：根据所述第一运动轨迹，获得目标位置，以使所述机器人运动至所述目标位置以抓取所述物品。Finally, step S103 is executed: according to the first movement track, a target position is obtained, so that the robot moves to the target position to grab the object.
可选地，本发明实施例提供的抓取物品的方法中，在所述根据所述第一运动轨迹，获得目标位置之前，还包括：Optionally, in the method for grabbing an item provided in the embodiment of the present invention, before obtaining the target position according to the first motion track, it further includes:
根据所述第一运动轨迹，获得第三位置，其中，第三位置与目标位置可以为不同的位置。According to the first movement trajectory, a third position is obtained, wherein the third position and the target position may be different positions.
可选地，本发明实施例提供的抓取物品的方法中，在所述根据所述第一运动轨迹，获得目标位置之前，还包括：Optionally, in the method for grabbing an item provided in the embodiment of the present invention, before obtaining the target position according to the first motion track, it further includes:
判断所述第一运动轨迹上是否存在障碍物；judging whether there is an obstacle on the first trajectory;
如果存在，则进行重新规划得到第二运动轨迹以使所述机器人避开所述障碍物；If it exists, re-plan to obtain a second trajectory so that the robot avoids the obstacle;
如果不存在，则根据所述第一运动轨迹进行运动。If it does not exist, then move according to the first movement track.
具体来说，判断所述第一运动轨迹上是否存在障碍物，即判断在第一运动轨迹上是否存在其他的物体、柱子等障碍物，如果存在障碍物，则对机器人的路线进行重新规划，选择不会发生碰撞的路线，从而到达相应的目标位置抓取物品。Specifically, judging whether there is an obstacle on the first trajectory, that is, judging whether there are obstacles such as other objects and pillars on the first trajectory, if there is an obstacle, re-plan the route of the robot, Choose a route that will not cause collisions to reach the corresponding target location to grab the item.
在具体的实现过程中，根据第一运动轨迹，机器人结合自身的位置姿态和物体的位置信息,先走到离物体具有一定距离的位置处，即第三位置，该第三位置可以为与目标位置不同，在运动到第三位置过程中，需要避免与物体发生碰撞，因此需要判断所述第一运动轨迹上是否存在障碍物。In the specific implementation process, according to the first trajectory, the robot combines its own position and posture and the position information of the object, and first walks to a position with a certain distance from the object, that is, the third position. The positions are different. During the movement to the third position, it is necessary to avoid collision with the object, so it is necessary to judge whether there is an obstacle on the first movement track.
可选地，本发明实施例提供的抓取物品的方法中，在根据所述第一运动轨迹，获得目标位置之后，还包括：Optionally, in the method for grabbing an item provided in the embodiment of the present invention, after the target position is obtained according to the first motion trajectory, it further includes:
判断所述目标位置是否在误差范围内；judging whether the target position is within an error range;
如果是，则利用机器人的左手或右手抓取所述物品；If so, grab said item with the robot's left or right hand;
如果否，则重新规划得到第三运动轨迹以使所述机器人到达所述相应的目标位置。If not, re-plan to obtain a third motion trajectory so that the robot reaches the corresponding target position.
由于机器人的位置发生了改变，此时，需要通过Kinect红外设备重新获取机器人的位置，并发送给机器人，机器人通过获得自身此时的位置和物品的位置，判断此时的位置是否在误差所允许的范围内，如果是，则进行抓取物品，如果超出范围时，机器人根据自身位置进行调整，当机器人到达目标位置时，会判断是自身是离左手比较近还是右手比较近，若离左手近，则用左手抓取物品，离右手近，则用右手抓取物品。机器人抓取到物品之后，将物品放置到固定位置并放下。Since the position of the robot has changed, at this time, it is necessary to obtain the position of the robot again through the Kinect infrared device and send it to the robot. The robot judges whether the position at this time is within the tolerance by obtaining its own position and the position of the object at this time. If it is within the range, if it is, then grab the object. If it is out of range, the robot will adjust according to its own position. When the robot reaches the target position, it will judge whether it is closer to the left hand or the right hand. If it is closer to the left hand , use the left hand to grab the item, and if it is closer to the right hand, use the right hand to grab the item. After the robot grabs the item, it places the item in a fixed position and puts it down.
可选地，本发明实施例提供的抓取物品的方法中，在根据所述第一运动轨迹，获得目标位置之后，还包括：Optionally, in the method for grabbing an item provided in the embodiment of the present invention, after the target position is obtained according to the first motion trajectory, it further includes:
根据所述目标位置和所述第二位置，判断机器人的位置和姿态是否为抓取的最佳状态。According to the target position and the second position, it is judged whether the position and posture of the robot are in an optimal grasping state.
可选地，所述第一位置包括所述机器人的三维坐标，所述第二位置包括所述物品的三维坐标。Optionally, the first position includes the three-dimensional coordinates of the robot, and the second position includes the three-dimensional coordinates of the item.
可选地，所述机器人运动至所述目标位置以抓取所述物品时，根据逆运动学原理确定机械手末端的位姿。Optionally, when the robot moves to the target position to grab the object, the pose of the end of the manipulator is determined according to the principle of inverse kinematics.
实施例二Embodiment two
基于与实施例一同样的发明构思，本发明实施例二从Kinect红外设备的视角，还提供了一种机器人抓取物品的方法，所述方法包括：Based on the same inventive concept as in Embodiment 1, Embodiment 2 of the present invention also provides a method for a robot to grab an item from the perspective of a Kinect infrared device, the method comprising:
步骤S201：Kinect红外设备获取所述机器人的第一位置和所述物品的第二位置；Step S201: the Kinect infrared device acquires the first position of the robot and the second position of the item;
步骤S202：将所述第一位置和所述第二位置发送至所述机器人，以使所述机器人根据所述第一位置和所述第二位置获得目标位置从而抓取所述物品。Step S202: Sending the first position and the second position to the robot, so that the robot obtains a target position according to the first position and the second position so as to grab the object.
具体地，本发明实施例提供的抓取物品的方法中，所述Kinect红外设备获取所述机器人的第一位置和所述物品的第二位置，包括：Specifically, in the method for grabbing an item provided in an embodiment of the present invention, the Kinect infrared device acquires the first position of the robot and the second position of the item, including:
获取空间深度图像；Obtain a spatial depth image;
根据所述空间深度图像，获取像素坐标和深度坐标；Obtain pixel coordinates and depth coordinates according to the spatial depth image;
根据所述像素坐标和深度坐标，获取所述机器人的第一位置和所述物品的第二位置。Obtain the first position of the robot and the second position of the object according to the pixel coordinates and the depth coordinates.
具体来说，本申请实施例采用的Kinect红外设备可以为Kinect V2设备，在具体的实现过程中，上述设备放置在水平位置上，并KinectV2搭载了「Time of Flight(ToF)」方式的Depth传感器，投射出红外线脉冲，可以获取空间的深度图像，然后从空间深度图像中获取像素坐标和深度坐标，获取所述机器人的第一位置和所述物品的第二位置,在具体的实施过程中，可以对Kinect设备进行标定获取相机的内部参数和外部参数，由位运算得到像素点深度值，进而结合相机参数和像素点深度值，由相机的成像模型得出像素点的三维坐标。具体来说，可以通过将Depth传感器获得的深度信息用图像的形式表现出来，对于不同的深度值分别用RGB表示，采用过渡颜色来表示不同的深度。Specifically, the Kinect infrared device used in the embodiment of the present application may be a Kinect V2 device. In the specific implementation process, the above-mentioned device is placed in a horizontal position, and KinectV2 is equipped with a "Time of Flight (ToF)" Depth sensor , by projecting infrared pulses, a spatial depth image can be obtained, and then pixel coordinates and depth coordinates can be obtained from the spatial depth image to obtain the first position of the robot and the second position of the item. In the specific implementation process, The Kinect device can be calibrated to obtain the internal parameters and external parameters of the camera, and the pixel depth value can be obtained by bit operation, and then combined with the camera parameters and pixel depth value, the three-dimensional coordinates of the pixel point can be obtained from the imaging model of the camera. Specifically, the depth information obtained by the Depth sensor can be expressed in the form of an image, and different depth values are represented by RGB, and transition colors are used to represent different depths.
由于实施二与实施例一的发明构思相同，对于实施一的各种变形均适用于实施例二。Since the inventive concept of the second embodiment is the same as that of the first embodiment, various modifications of the first embodiment are applicable to the second embodiment.
本申请中，机器人和Kinect成功实现了简单的交互，Kinect将测得的机器人以及物体的数据成功的传递给了机器人，机器人根据传输的数据进行运动。In this application, the robot and Kinect successfully realize simple interaction, Kinect successfully transmits the measured data of the robot and objects to the robot, and the robot moves according to the transmitted data.
本发明实施例中提供的一个或多个技术方案，至少具有如下技术效果或优点：One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
本申请实施例提供的一种机器人抓取物品的方法，机器人通过获取Kinect红外设备的机器人的第一位置和所述物品的第二位置，并根据所述第一位置和所述第二位置，获得所述机器人到所述物品的第一运动轨迹；然后根据所述第一运动轨迹获得目标位置，所述机器人运动至所述目标位置以抓取所述物品。由于Kinect红外设备获取可以获取准确的位置信息，并将位置信息传递给机器人，可以提高物品定位的准确性，从而更为准确地抓取物品，并且Kinect红外设备对光线没有要求，即使在黑暗的环境中依然可以使用，扩大了机器人使用的场景和范围，使得机器人可以真正做到24小时为人类服务。解决了现有技术中利用机器人自身视觉进行定位的方法存在定位精度较低、不适用于光线较暗的环境的技术问题。A method for a robot to grab an item provided in an embodiment of the present application, the robot obtains the first position of the robot of the Kinect infrared device and the second position of the item, and according to the first position and the second position, Obtaining a first motion trajectory from the robot to the object; then obtaining a target position according to the first motion trajectory, and the robot moves to the target position to grab the object. Because the Kinect infrared device can obtain accurate location information and transmit the location information to the robot, it can improve the accuracy of item positioning, so as to grasp the item more accurately, and the Kinect infrared device does not require light, even in the dark It can still be used in the environment, expanding the scenarios and scope of robot use, so that robots can truly serve humans 24 hours a day. The method solves the technical problems of low positioning accuracy and unsuitability for environments with dark light in the prior art positioning method using the robot's own vision.
尽管已描述了本发明的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。While preferred embodiments of the invention have been described, additional changes and modifications to these embodiments can be made by those skilled in the art once the basic inventive concept is appreciated. Therefore, it is intended that the appended claims be construed to cover the preferred embodiment as well as all changes and modifications which fall within the scope of the invention.
显然，本领域的技术人员可以对本发明实施例进行各种改动和变型而不脱离本发明实施例的精神和范围。这样，倘若本发明实施例的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。Apparently, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the embodiments of the present invention. In this way, if the modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and equivalent technologies, the present invention also intends to include these modifications and variations.
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