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In order to solve the problem of inaccurate positioning or low grasping accuracy of parts grasped by manipulator, this paper proposed a method of grasping irregular parts of manipulator based on 3D vision. This method mainly consisted of 3 algorithm modules: system space calibration, part point cloud location and segmentation, and part pose estimation. The external parameter calibration method of point cloud camera based on 2D image and the part point cloud segmentation method based on image semantic segmentation were proposed. Experiments show that the proposed calibration method achieves a system accuracy error of 1 mm, with high efficiency and strong universality. Compared with the commonly used clustering segmentation, the part point cloud segmentation method has higher accuracy and efficiency. The designed 2-stage part spatial pose calculation method can accurately estimate the 6-DOF pose of the part in space, and the accuracy is improved by about 1.8 times compared with the 1-stage matching method. The proposed manipulator irregular part grasping system based on 3D vision has high precision, strong scalability and wide adaptability.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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