智能垃圾分类拾捡机器人抓取目标定位方法

An Intelligent Garbage Sorting and Picking Robot Grasping Target Localization Method

为准确定位抓取目标所处位置,提出基于深度学习的智能垃圾分类拾捡机器人抓取目标定位方法。定义深度学习算法的目标函数,并在此基础上,完成对抓取目标的检测。建立抓取目标尺度空间,并标定具体的机器人抓取对象,再根据抓取目标定位条件估算值,实现抓取目标定位。实验结果表明,所提方法应用可以有效控制抓取目标节点与定位节点之间的坐标差水平,能够准确定位抓取目标,具有突出的作用价值。

To accurately locate and grasp the position of the target,a deep learning based on intelligent garbage classification and picking robot is proposed to grasp and locate the target.Define the objective function of deep learning algorithms,and on this basis,complete the detection of captured targets.Establish a scale space for grasping the target,calibrate the specific robot grasping object,and estimate the value based on the grasping target positioning conditions to achieve grasping target positioning.The experimental results show that the proposed method can effectively control the level of coordinate difference between the grasping target node and the positioning node,accurately locate the grasping target with outstanding practical value.