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CN-115760639-B - Correction method of object scanning data, control method of grabbing system and grabbing system

CN115760639BCN 115760639 BCN115760639 BCN 115760639BCN-115760639-B

Abstract

The invention provides a correction method of object scanning data, a control method of a grabbing system, a grabbing system and a computer readable storage medium, wherein the correction method of the object scanning data comprises the steps of obtaining scanning data of a characteristic surface in an object, wherein the object has an ideal shape, the scanning shape of the characteristic surface is a closed graph under the ideal shape, no included angle exists in the inner angle of the closed graph, converting the scanning data into a plane image through vertical projection, obtaining an inscribed graph of the plane image of the characteristic surface of the object, the inscribed graph is similar to the shape of the characteristic surface in the ideal shape of the object, calculating to obtain a correction model, and the correction model is similar to the ideal shape of the object. The embodiment of the invention utilizes an inscribed graph similar to the ideal shape of the object to calculate and obtain a correction model of the object, and the correction model is used in the subsequent processing process. The correction model can solve the problems of inaccurate positioning and missing shape deformation corners, and improves the accuracy of object scanning data.

Inventors

  • SHENG WENBO
  • WEI HAIYONG
  • LI XI
  • DING YOUSHUANG
  • SHAO TIANLAN

Assignees

  • 梅卡曼德（北京）机器人科技有限公司

Dates

Publication Date
20260508
Application Date
20221205

Claims (11)

  1. 1. A method of correcting scan data of an object, comprising: acquiring scanning data of a characteristic surface in an object, wherein the object has an ideal shape, the scanning shape of the characteristic surface is a closed graph under the ideal shape, and the inside angle of the closed graph has no reflex angle; converting the scanning data into a planar image through vertical projection; Obtaining an inscribed pattern of a planar image of a characteristic surface of an object, the inscribed pattern being similar to a shape of the characteristic surface in an ideal shape of the object; In the step, the correction shape of the characteristic surface is obtained by utilizing the inscribed graph, and the correction model is obtained by combining the ideal shape through the correction shape of the characteristic surface; Wherein the step of computing to obtain a correction model comprises: Calculating the coordinates of the vertexes of the inscription patterns in the plane of the plane image; Mapping coordinates of the vertexes of the inscribed graph in the plane of the plane image to a three-dimensional space to obtain three-dimensional coordinates; And calculating to obtain a correction model according to the three-dimensional coordinates of the vertexes of the inscribed graph and the ideal shape of the object, wherein the correction model comprises the geometric shape and the pose of the object.
  2. 2. The correction method according to claim 1, wherein the step of obtaining an inscribed pattern of the object-feature surface plane image further comprises: Obtaining a minimum circumcircle of the plane image; and combining the plane image and the minimum circumscribing circle to obtain the inscribed graph.
  3. 3. The correction method according to claim 2, wherein the step of obtaining an inscribed pattern of the object-feature surface plane image further comprises: Obtaining a bounding box of the minimum circumscribing circle; obtaining a region of interest according to the bounding box, wherein the region of interest comprises the whole range in a minimum circumscribing circle; And obtaining an inscription pattern according to the blank range of the region of interest in the plane image.
  4. 4. The correction method according to claim 3, wherein the step of obtaining an inscribed pattern includes inverting a color of a region of interest in the planar image, and obtaining an inscribed pattern within a white range in a region of interest, the planar image being a point cloud image.
  5. 5. The correction method according to any one of claims 1 to 4, wherein the inscribed pattern is a maximum inscribed pattern, the step of calculating to obtain a correction model comprising: And taking the maximum inscription pattern as the shape of the characteristic surface in the correction model, and calculating to obtain the correction model according to the maximum inscription pattern, wherein the correction model comprises the geometric shape and the pose of the object.
  6. 6. The correction method according to claim 1, wherein the scan data of the object feature surface is point cloud data, the step of converting the scan data into a planar image by vertical projection includes transforming the point cloud data into an object coordinate system, obtaining the planar image by vertical projection; The step of obtaining the three-dimensional coordinates comprises the steps of mapping the coordinates of the vertexes of the inscribed graph in the plane of the plane image to a three-dimensional space, and transforming the coordinates to a coordinate system of a sensor for obtaining point cloud data to obtain the three-dimensional coordinates.
  7. 7. The correction method according to any one of claims 1 to 4, wherein the object is a basket having a rectangular opening thereabove, the ideal shape is approximately an inverted pyramid or a cuboid, a characteristic surface of the object is an upper surface of the basket, and the inscribed pattern is a maximum inscribed rectangle.
  8. 8. The method of calibrating according to claim 7, wherein the ideal shape of the object comprises a height of the basket and an outer wall thickness, and the calculating the calibration model comprises calculating a geometry and a pose of the basket based on vertex coordinates of the maximum inscribed rectangle and the height and thickness of the basket.
  9. 9. A grasping system control method, comprising: the method for correcting object scanning data according to any one of claims 1 to 8, wherein a correction model of an object to be grasped is obtained; and controlling the grabbing device to grab the object to be grabbed according to the correction model.
  10. 10. A grasping system comprising: The grabbing device is driven to grab an object to be grabbed; the information acquisition module is configured to acquire scanning data of an object to be grabbed or a preset surface of the object to be grabbed, and A control system in signal connection with the gripping means and the information acquisition module and capable of performing the method of correcting object scan data according to any one of claims 1-8.
  11. 11. A computer readable storage medium comprising computer executable instructions stored thereon, which when executed by a processor implement the method of correcting object scan data according to any one of claims 1-8 and/or the method of controlling a gripping system according to claim 9.

Description

Correction method of object scanning data, control method of grabbing system and grabbing system Technical Field The invention relates to the technical field of automatic production, in particular to a correction method of object scanning data, a control method of a grabbing system and the grabbing system. Background In the process of industrial production and material transfer, automatic equipment is often required to be used for grabbing workpieces, materials or a material basket containing the materials, but in practical application, the shapes of the workpieces, the materials or the material basket may change, such as deformation, corner missing and the like caused by long-time use or collision, the shape and the pose of an object obtained through a scanning device are different from the theoretical shape and pose of the object, and in such a case, the situation that grabbing of the object by using a grabbing device may cause inaccurate grabbing, dropping or overturning occurs, so that the production safety and the production efficiency are affected. The matters in the background section are only those known to the inventors and do not, of course, represent prior art in the field. Disclosure of Invention In view of one or more of the drawbacks of the prior art, the present invention provides a method for correcting scan data of an object, comprising: acquiring scanning data of a characteristic surface in an object, wherein the object has an ideal shape, the scanning shape of the characteristic surface is a closed graph under the ideal shape, and the inside angle of the closed graph has no reflex angle; converting the scanning data into a planar image through vertical projection; Obtaining an inscribed pattern of a planar image of a characteristic surface of an object, the inscribed pattern being similar to a shape of the characteristic surface in an ideal shape of the object; A correction model is calculated that approximates the ideal shape of the object. According to one aspect of the present invention, the step of obtaining an inscribed pattern of the object-feature surface plane image further includes: Obtaining a minimum circumcircle of the plane image; and combining the plane image and the minimum circumscribing circle to obtain the inscribed graph. According to one aspect of the present invention, the step of obtaining an inscribed pattern of the object-feature surface plane image further includes: Obtaining a bounding box of the minimum circumscribing circle; obtaining a region of interest according to the bounding box, wherein the region of interest comprises the whole range in a minimum circumscribing circle; And obtaining an inscription pattern according to the blank range of the region of interest in the plane image. According to one aspect of the invention, the step of obtaining the inscription pattern comprises the steps of reversing the color of the region of interest in the planar image, and obtaining the inscription pattern in a hollow white range in the sensing interest region, wherein the planar image is a point cloud image. According to one aspect of the present invention, wherein the inscribed pattern is a maximum inscribed pattern, the step of calculating to obtain a correction model includes: And taking the maximum inscription pattern as the shape of the characteristic surface in the correction model, and calculating to obtain the correction model according to the maximum inscription pattern, wherein the correction model comprises the geometric shape and the pose of the object. According to one aspect of the invention, wherein the step of computing the obtained correction model comprises: Calculating the coordinates of the vertexes of the inscription patterns in the plane of the plane image; Mapping coordinates of the vertexes of the inscribed graph in the plane of the plane image to a three-dimensional space to obtain three-dimensional coordinates; And calculating to obtain a correction model according to the three-dimensional coordinates of the vertexes of the inscribed graph and the ideal shape of the object, wherein the correction model comprises the geometric shape and the pose of the object. According to one aspect of the invention, the scan data of the object feature surface is point cloud data, and the step of converting the scan data into a planar image comprises the steps of transforming the point cloud data into an object coordinate system and obtaining the planar image through orthogonal projection; The step of obtaining the three-dimensional coordinates comprises the steps of mapping the coordinates of the vertexes of the inscribed graph in the plane of the plane image to a three-dimensional space, and transforming the coordinates to a coordinate system of a sensor for obtaining point cloud data to obtain the three-dimensional coordinates. According to one aspect of the invention, the object is a basket with a rectangular opening at the upper part, the ideal shape is